自動避障紅外電動小車C51程序

ID:358709 · 發表于 2018-11-9 15:40

程序注釋解釋清楚明了

單片機源程序如下:

//??????????C51??
#include"reg51.h"
#include<intrins.h>
#define uchar unsigned char
#define uint unsigned int
#define left_infrare 0
#define right_infrare 1
#define dj_state1 0X5F //??
#define dj_state2 0X4F //??
#define dj_state3 0X1F //??
#define dj_state4 0X0F //??
#define dj_state5 0XfF //??
#define light_off 0x0f //????
#define left_light 0X5F //???? ???5f
#define right_light 0XaF //????0xaf,???0xbf
#define back_light 0XcF //??????
#define front_light 0x3f //??
#define light_on 0xff //????
#define true 1
#define false 0
#define LCD_Data P0
#define Busy 0x80 //????LCD?????Busy??
sbit c=P1^2; //??????
uchar code talk1[]={"backward"};
uchar code talk2[]={"forward"};
uchar code talk3[]={"Turnleft"};
uchar code talk4[]={"Turn right"};
uchar flage =0x00;
sbit ledcs=P1^2; //74H573?????
//sbit left_led=P0^2; //??????
//sbit right_led=P0^3; //??????
sbit LCD_RS = P1^5; //LCD????
sbit LCD_RW = P1^6; //
sbit LCD_E = P1^7 ;
void Delay5Ms(void)
{
uint TempCyc = 5552;
while(TempCyc--);
}
//400ms??
void Delay400Ms(void)
{uchar TempCycA = 5;
uint TempCycB;
while(TempCycA--)
{ TempCycB=7269;
while(TempCycB--);
}
}
//LCD???
unsigned char ReadStatusLCD(void)
{
LCD_Data = 0xFF;
LCD_RS = 0;
LCD_RW = 1;
LCD_E = 0;
LCD_E = 0;
LCD_E = 1;
while (LCD_Data & Busy); //?????
return(LCD_Data);
}
//LCD???
void WriteDataLCD(unsigned char WDLCD )
{
ReadStatusLCD(); //???
LCD_Data = WDLCD;
LCD_RS=1;
LCD_RW =0;
LCD_E = 0; //?????????????????
LCD_E = 0; //?? ,????
LCD_E = 0; //??
LCD_E = 1;
}
//LCD???
void WriteCommandLCD(unsigned char WCLCD,BuysC)
{
if (BuysC) ReadStatusLCD(); //???????,BuysC?0??????
LCD_Data = WCLCD;
LCD_RS= 0;
LCD_RW= 0;
LCD_E = 0; //?? ,????
LCD_E = 0;
LCD_E = 0; //??
LCD_E = 1;
}
void LCDInit(void) //LCD???
{
Delay400Ms();
LCD_Data = 0;
WriteCommandLCD(0x38,0); //????????,??????
Delay5Ms();
WriteCommandLCD(0x38,0);
Delay5Ms();
WriteCommandLCD(0x38,0);
Delay5Ms();
WriteCommandLCD(0x38,1); //??????,???????????
WriteCommandLCD(0x08,1); //????
WriteCommandLCD(0x01,1); //????
WriteCommandLCD(0x06,1); // ????????
WriteCommandLCD(0x0C,1); // ????????
}
//???????????
void DisplayOneChar(uchar X, uchar Y, uchar DData)
{
Y &= 0x1;
X &= 0xF; //??X????15,Y????1
if (Y)
X |= 0x40; //???????????+0x40;
X |= 0x80; // ??LCD????
WriteCommandLCD(X, 0); //????????,?????
WriteDataLCD(DData);
}
//???????????(?????);
void DisplayListChar(uchar X, uchar Y,uchar ListLength, uchar *DData,uchar n)
{ uchar i;
Y &= 0x01;
X &= 0x0F; //??X????15,Y????1
for(i=0;i<ListLength;i++)
{ if (X <= 0x0F) //X?????0xF
{ DisplayOneChar(X, Y, DData[i]); //??????
if(n==true)Delay400Ms();
X++;
}
}
}
/****************************
????????,?????????????
****************************/
void infrared_ray()interrupt 0 using 3
{ uchar i=90;
flage=0x01; //?????
while(i--); //?????
EX0=0; //????,??????????,????
}
// ?????
void delay(uint n)
{
while(--n);
}
//?????
void Init0(void)
{ EA=1;
IT0=1;
}
/***************************************
/*????????? ????,
????????????????????????,
????????
****************************************/
void seng_wave(uchar timer,bit n)//timer???????????,n->????????
{ uchar i;
P1 |= 0X04; //ledcs=1?74ls573?11????????????,?????????,???
IE |= 0X01;
P0 |=0x0c; //04
for(i=timer;i>0;i--)
{ if(n)P0^=0x08; // ????????????//00
else P0^=0x04; // ????????????//0c
delay(100); //????????(??38khz??????)???
} //timer*delay(x)????????????
P1 &= 0Xfb;
IE &= 0Xfe;
}
//led????????
void light_control(uchar deng)
{ ledcs=1;
P0 =deng;
ledcs=0; //11111011
}
//??????????
void control(uchar n,uchar dj_state,uchar light)
{ uchar i;
// P1|=0x04;
light_control(light); //led?????
delay(100);
P2 =dj_state; //???????
WriteCommandLCD(0x01,1); //LCD????
switch(dj_state)
{ case dj_state2 :{ DisplayListChar(3,1,10,talk4,false);}break;
case dj_state3: { DisplayListChar(3,1,8,talk3,false);}break;
case dj_state4: { DisplayListChar(3,1,7,talk1,false); }break;
default :break;
}
for(i=n;i>0;i--)
{delay(2000);}
P2=dj_state5; //??
light_control(light_off); //led??
WriteCommandLCD(0x01,1); //LCD????
P2=dj_state1; //??
if(dj_state1)
{ P1|=0X04; //ledcs=1;
P0=0x0f;
P1&=0XFB;
delay(100);
DisplayListChar(0,0,7,talk2,false);
}
}
/****************************************
????????
*****************************************/
void move_car(void)
{
uchar temp =0x00;
//???????
seng_wave(1,left_infrare); //???????????,??????
if(flage==0x01){temp|=0x01;flage=0x00;}
//???????
delay(30);
seng_wave(1,right_infrare); //???????????,??????
if(flage==0x01){temp|=0x02;flage=0x00;}
//??????,??
if(temp==0x01){control(2,dj_state2,left_light); temp =0x00;}
//??????,??
else if(temp==0x02) {control(2,dj_state3,right_light ); temp =0x00;}
//?????????,??,??
else if(temp==0x03) {control(10,dj_state4,back_light );
control(5,dj_state2,right_light ); temp =0x00;}
}
void main(void)
{ Init0(); //?????
P1 |= 0X04; //????????
P0 = 0xFf; //??????
P1&=0XFB; //????????
LCDInit(); //LCD???
WriteCommandLCD(0x01,1); //????
delay(100);
P2=dj_state1;
DisplayListChar(0,0,8,talk2,false);
while(1)
{ move_car(); //??????
delay(200000);//??
}
}

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自動避障紅外電動小車C51程序