智能小车红外避障c语言程1.doc

智能小车红外避障c语言程序 #include bit RandomFactor = 0 ;bit RandomFactorBuf = 0 ;#include #define FLeftMotor P0_2 = 1 ; P0_3 = 0 #define BLeftMotor P0_2 = 0 ; P0_3 = 1#define FRightMotor P0_5 = 1 ; P0_4 = 0 #define BRightMotor P0_5 = 0 ; P0_4 = 1#define LeftStop P0_2 = 0 ; P0_3 = 0 #define RightStop P0_4 = 0 ; P0_5 = 0#define CarStop P0_2 = 0 ; P0_3 = 0 ; P0_4 = 0 ; P0_5 = 0 #define RightSenser P0_0 #define LeftSenser P0_1/*/ 左转/*void TurnLeft_1()LeftStop ;FRightMotor ;/*/ 快速左转/*void TurnLeft_Fast()BLeftMotor ;FRightMotor ;/*/ 右转/*void TurnRight_1()RightStop ;FLeftMotor ;/*/ 快速右转/*void TurnRight_Fast()BRightMotor ;FLeftMotor ;/*/ 用倒退的方式进行车头右转/*void BTurnRight_1()LeftStop ;BRightMotor ; /*/ 用倒退的方式进行车头左转/*void BTurnLeft_1() RightStop ;BLeftMotor ; /*/ 前进/*void FCar()FLeftMotor ;FRightMotor ;/*/ 后退/*void BCar()BLeftMotor ;BRightMotor ;/*/ 壁障程序/*void Obstacle_Avoid(void) if(RightSenser & LeftSenser&PWM) FCar() ; if(!RightSenser) & LeftSenser&PWM) BTurnLeft_1() ;if(RightSenser & (!LeftSenser)&PWM) BTurnRight_1() ;if(!(RightSenser | LeftSenser) RandomFactorBuf = RandomFactor ; while (!(RightSenser | LeftSenser) if(RandomFactorBuf) BTurnLeft_1() ; delay (300) ; if(!RandomFactorBuf) BTurnRight_1() ; delay (300) ; if(!PWM) LeftStop ; RightStop ; /*/ 跟随程序/*void Follow(void)if(RightSenser & LeftSenser&PWM) LeftStop ; RightStop; if(!RightSenser) & LeftSenser&PWM) TurnRight_1() ;if(RightSenser & (!LeftSenser)&PWM) TurnLeft_1() ;if(!(RightSenser | LeftSenser) FCar() ;/*/*main()Timer0Setup(500) ;Timer1Setup(50) ;Obstacle_Avoid() ;/ Follow() ;智能避障小车C51程序(2010-07-21 13:00:00) 标签： 电子教育#include#include#define uchar unsigned char#define uintunsigned int#define left_infrare0#define right_infrare 1#define dj_state10X5F/前进#define dj_state20X4F/右转#define dj_state30X1F/左转#define dj_state40X0F/后退#define dj_state50XfF/停车#define light_off0x0f/关转向灯#define left_light0X5F/左转向灯两个是5f#define right_light0XaF/右转向灯0xaf，两个是0xbf#define back_light0XcF/刹车灯即后灯#define front_light0x3f/前灯#define light_on0xff/开所有灯#define true1#define false 0#define LCD_DataP0#define Busy0x80/用于检测LCD状态字中的Busy标识sbitc=P12;/转向灯使能端uchar code talk1=backward;uchar code talk2=forward;uchar code talk3=Turnleft;uchar code talk4=Turn right;uchar flage =0x00;sbitledcs=P12;/74H573的片选信号/sbitleft_led=P02;/左红外发射管/sbitright_led=P03;/右红外发射管sbitLCD_RS = P15;/LCD定义引脚sbitLCD_RW = P16;/sbitLCD_E= P17 ;void Delay5Ms(void)uint TempCyc = 5552;while(TempCyc-);/400ms延时void Delay400Ms(void)uchar TempCycA = 5;uint TempCycB;while(TempCycA-) TempCycB=7269;while(TempCycB-);/LCD读状态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);/检测忙信号return(LCD_Data);/LCD写数据void WriteDataLCD(unsigned char WDLCD )ReadStatusLCD();/检测忙LCD_Data = WDLCD;LCD_RS=1;LCD_RW =0;LCD_E = 0; /若晶振速度太高可以在这后加小的延时LCD_E = 0; /延时 ,为了安全LCD_E = 0; /延时LCD_E = 1;/LCD写指令void WriteCommandLCD(unsigned char WCLCD,BuysC)if (BuysC) ReadStatusLCD();/根据需要检测忙,BuysC为0时忽略忙检测LCD_Data = WCLCD;LCD_RS= 0;LCD_RW= 0;LCD_E = 0;/延时 ,为了安全LCD_E = 0;LCD_E = 0; /延时LCD_E = 1;void LCDInit(void)/LCD初始化Delay400Ms();LCD_Data = 0;WriteCommandLCD(0x38,0);/三次显示模式设置，不检测忙信号Delay5Ms();WriteCommandLCD(0x38,0);Delay5Ms();WriteCommandLCD(0x38,0);Delay5Ms();WriteCommandLCD(0x38,1); /显示模式设置,开始要求每次检测忙信号WriteCommandLCD(0x08,1); /关闭显示WriteCommandLCD(0x01,1); /显示清屏WriteCommandLCD(0x06,1); / 显示光标移动设置WriteCommandLCD(0x0C,1); / 显示开及光标设置/按指定位置显示一个字符void DisplayOneChar(uchar X, uchar Y, uchar DData)Y &= 0x1;X &= 0xF;/限制X不能大于15，Y不能大于1if (Y)X |= 0x40;/当要显示第二行时地址码+0x40;X |= 0x80;/ 算出LCD的指令码WriteCommandLCD(X, 0);/这里不检测忙信号，发送地址码WriteDataLCD(DData);/按指定位置显示一串字符(只能写一行)；void DisplayListChar(uchar X, uchar Y,uchar ListLength, uchar*DData,uchar n) uchar i;Y &= 0x01;X &= 0x0F;/限制X不能大于15，Y不能大于1for(i=0;iListLength;i+) if (X 左右发射管的选择uchar i;P1 |= 0X04;/ledcs=1为74ls573为11脚为高电平时数据直接输出，为低时把数据锁存住，即保持IE |= 0X01;P0 |=0x0c;/04for(i=timer;i0;i-) if(n)P0=0x08;/ 右发射管通过载波发射信号/00else P0=0x04;/ 左发射管通过载波发射信号/0cdelay(100);/这里控制着灵敏度（控制38khz的方波的多少）和距离/timer*delay(x)即为发射管得到的平均电流P1 &= 0Xfb;IE &= 0Xfe;/led转向灯指示子程序void light_control(uchar deng)ledcs=1;P0 =deng;ledcs=0;/11111011/电机和灯光的控制部分voidcontrol(uchar n,uchar dj_state,uchar light)uchar i;/ P1|=0x04;light_control(light);/led转向指示灯delay(100);P2 =dj_state;/电机的方向控制WriteCommandLCD(0x01,1); /LCD显示清屏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;i0;i-)delay(2000);P2=dj_state5;/停车light_control(light_off);/led关闭WriteCommandLCD(0x01,1); /LCD显示清屏P2=dj_state1;/前进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;/左边红外管发射seng_wave(1,left_infrare);/向下为中断开启有关闭后，要执行的语句if(flage=0x01)temp|=0x01;flage=0x00;/右边红外管发射delay(30);seng_wave(1,right_infrare);/向下为中断开启有关闭后，要执行的语句if(flage=0x01)temp|=0x02;flage=0x00;/左边有障碍物，右转if(temp=0x01)control(2,dj_state2,left_light); temp =0x00;/右边有障碍物，左转else if(temp=0x02) control(2,dj_state3,right_light ); temp =0x00;/两个方向都有障碍物，后退，右转else if(temp=0x03) control(10,dj_state4,back_light );control(