人機介面軟體及硬體平台設計實務

本文之研究重點在自行創作一套語言來控制機器人自走車。其於主架構之設計上，本平台係採電子元件(89S51、紅外線發射器、紅外線接收器、555IC、MAX232IC、OPA比較器IC)，並配合C++軟體工具(Microsoft Visual C++6.0)。本系統於軟體方面概分為3部份，第1部分係使用VC6.0撰寫而成之編譯器(Compilor)，其功能是將自創語法編譯成89S51的組合語言，第2部分為使用VC6.0撰寫而成之組譯器(Assembler)，其目的是將89S51的組合語言編譯轉換為可寫入89S51的機械碼(Hex Code)，第3部份亦透過VC6.0撰寫完成RS232寫入程式，其作用為將89S51的機械碼下載至89S51晶片內。硬體方面主要分為是3部份，第1部分係由89S51來產生之PWM予以控制伺服馬達，使其前進後退，第2部份由555IC提供脈波控制紅外線發射器，並由89S51來控制左右兩側之紅外線發射器，欲達偵測障礙之目的，第3部份為燒錄器以RS232傳輸線配合程式完成寫入之動作。

關鍵字

關鍵字；自創語法、組合語言、機械碼、RS232、伺服馬達、紅外線感測器

並列摘要

In this paper, a language is created by oneself for controlling the automatic guided vehicle (AGV).In the proposed method, this platform uses the electronic elements like the 89S51, the infrared ray detector, the infrared ray receiver, the 555IC, the MAX232IC, and the OPA comparator IC. In the mean time, the primary method was realized by Microsoft Visual C++6.0. This system is divided into 3 parts generally in the software respect. In the 1st part, the compiler is written in VC6.0, and its function is compiling from invented syntax into the assembled language of 89S51.In the 2nd part, the assembler is written in VC6.0 and it is compiling from the assembled language of 89S51 into the Hex Code which can be downloaded to the 89S51. In the third part, the RS232 Programmer is written in VC6.0 and it downloads the Hex Code of the 89S51 into the 89S51 chip. There are also divided 3 parts mainly in hardware. In the 1st part, the PWM is produced from 89S51 to control the servo motor to go forwards and backwards. In the second part, the 555IC offers the pulse to control the infrared ray detector, and the 89S51 controls the launching of the left side and the right side infrared rays to detect the obstacles. In the third part, the program is downloaded by RS232 transmission line for the recorder.