超声波智能小车

1、.#include<reg52.h>#include <intrins.h>#define uchar unsigned char#define uint unsigned intsbit Signal=P17;sbit RX=P24;sbit TX=P25;sbit lcden=P31;sbit lcdrs=P30;unsigned int time=0;/用于存放定时器时间值unsigned int S=0;/用于存放距离的值bit flag =0; unsigned char disbuff="0000"unsigned char code t

2、able1="! Out of range"void motor_r_z(void);/右边电动机正转void motor_l_z(void);/左边电动机正转void motor_r_f(void);/右边电动机反转void motor_l_f(void);/左边电动机反转void back(uchar,uchar); /小车后退void go(uchar,uchar);/小车前进void stop(void);/小车停止void left(void);/小车左转void right(void);/小车右转sbit PWM1=P15;sbit PWM2=P14;sbit

3、PWM3=P11;sbit PWM4=P12;sbit EN1=P10;sbit EN2=P13;sbit start_k=P32;uchar data t_0;uchar data motor_r;uchar data motor_l;uchar data Value;uchar data mid;/*延时子程序*/void delay_1ms(uint n)uint i,j;for(j=n;j>0;j-)for(i=20;i>0;i-);void ini(void)/T0初始化/TMOD=0x01; /T0工作在方式1TH1=0xff; /装入T0初值TL1=0xf6;TR1=

4、1;/开T0中断ET1=1;/T0允许中断EA=1;/t_0=0;/P2=0;void start(void) uchar a; aa: while(start_k); for(a=0;a<50;a+) delay_1ms(1); while(start_k) goto aa; go(0x30,0x30);void go(uchar left_motor,uchar right_motor)/直行Value=right_motor;motor_r_z();Value=left_motor;motor_l_z();void back(uchar left_motor,uchar right

5、_motor)/后退Value=right_motor;motor_r_f();Value=left_motor;motor_l_f();void motor_r_z(void)/右边电动机正转 motor_r=0x64+Value; EN1=1;void motor_l_z(void)/左边电动机正转 motor_l=0x64-Value; EN2=1;void motor_r_f(void)/右边电动机反转 motor_r=0x64-Value; EN1=1;void motor_l_f(void)/左边电动机反转 motor_l=0x64+Value; EN2=1;void stop(v

6、oid)EN2=0;EN1=0;void time0(void) interrupt 3 TR1=0;TH1=0xff;TL1=0xf6;+t_0;ACC=t_0;CY=0;ACC-=motor_r;if(CY=1)PWM1=1;PWM2=0;goto PWM_2;PWM1=0;PWM2=1;PWM_2:ACC=t_0;CY=0;ACC-=motor_l;if(CY=1)PWM3=1;PWM4=0;goto HIGHT;PWM3=0;PWM4=1;HIGHT:ACC=t_0;if(ACC!=0xc9)goto EXIT;ACC=0;t_0=ACC;EXIT:TR1=1; void Delay4

7、00Ms(void)unsigned char TempCycA = 5;unsigned int TempCycB;while(TempCycA-)TempCycB=7269;while(TempCycB-);void delay(uint z)uint x,y;for(x=z;x>0;x-)for(y=110;y>0;y-);void write_com(uchar com)lcdrs=0;P2=com;delay(5);lcden=1;delay(5);lcden=0;void write_data(uchar date)lcdrs=1;P2=date;delay(5);lc

8、den=1;delay(5);lcden=0;void init()lcden=0; write_com(0x38);write_com(0x0c);write_com(0x06);write_com(0x01);void Timer_Count(void)uint i; TR0=1; /开启计数 while(RX);/当RX为1计数并等待 TR0=0;/关闭计数 time=TH0*256+TL0; TH0=0; TL0=0; S=time*1.7; S=S/10; if(S>=200)|flag=1) /超出测量范围 go(0x35,0x35);Signal=0; flag=0; /*

9、write_com(0x80+0x00);i = 0;while(table1i!='0') write_data(table1i); i+; */ else back(0x35,0x35); Signal=1; /* disbuff3=S%10+'0' disbuff2=S/10%10+'0' disbuff1=S/100%10+'0' disbuff0=S/1000%10+'0' write_com(0x80+0x45); i = 0; while(disbuffi!='0') write_da

10、ta(disbuffi); i+; */ /计算 void zd0() interrupt 1 /T0中断用来计数器溢出,超过测距范围 flag=1; /中断溢出标志RX=0; /*/ void StartModule() /启动模块 TX=1; /启动一次模块 _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); TX=0; voi