超声波避障小车c语言程序.docx

#include#define uchar unsigned char#define uint unsigned int#include unsigned char ly_dis4;/定义显示缓冲区sbit lcd_rs_port = P26; /*定义LCD控制端口*/sbit lcd_rw_port = P25;sbit lcd_en_port = P27;sbit RX=P36; /回响信号 sbit TX=P37; /触发信号sbit h=P24;sbit z_1=P20; /警报继电器发出sbit z_2=P21; /警报蜂鸣器发出sbit y_1=P22; /警报继电器发出sbit y_2=P23; /警报蜂鸣器发出#define lcd_data_port P0#define Busy 0x80 /用于检测LCM状态字中的Busy标识uchar jishu;uchar lb=0;uchar lb_1=0;uchar zhuanxiang;uchar code mun_to_char = 0123456789ABCDEF.cm -; /*定义数字跟ASCII码的关系*/uchar code mun_to_char1 = Welcome to the graduation design; /*欢迎毕业设计*/uchar code mun_to_char2 = The car reversing radar ; /*倒车雷达*/uchar code mun_to_char4 = Designer: li; /*设计者：李*/unsigned int time=0; /探测时间unsigned long S=0; /实际检测距离bit flag =0; /标志位int ltemp; /实际测量温度unsigned int j=0; unsigned char disbuff4= 0,0,0,0,;/距离数据储存单元void inti() /*初始化函数*/ T2CON=0x00; /定是计时器 EA=1; /总中断开 TMOD=0x11; /定时器0,1初始化，16位定时 TH0=0; /10ms后进中断，产生舵机pwm TL0=0; ET0=1; TH1=0xd8; /10ms后进中断,产生电机pwm TL1=0xf0; ET1=1; TR1=0;void lcd_busy_wait() /*LCD1602 忙等待*/ lcd_rs_port = 0; lcd_rw_port = 1; lcd_en_port = 1; lcd_data_port = 0xff; while (lcd_data_port&0x80); lcd_en_port = 0; void lcd_command_write(uchar command) /*LCD1602 命令字写入*/ lcd_busy_wait(); lcd_rs_port = 0; lcd_rw_port = 0; lcd_en_port = 0; lcd_data_port = command; lcd_en_port = 1; lcd_en_port = 0; void lcd_char_write(uchar x_pos,y_pos,lcd_dat) /*LCD1602 字符数据写入*/ x_pos &= 0x0f; /* X位置范围 015 */ y_pos &= 0x01; /* Y位置范围 0 1 */ if(y_pos=1) x_pos = 0x40; x_pos = 0x80; lcd_command_write(x_pos); lcd_busy_wait(); lcd_rs_port = 1; lcd_rw_port = 0; lcd_en_port = 0; lcd_data_port = lcd_dat; lcd_en_port = 1; lcd_en_port = 0; lcd_data_port = 0xff; /*释放数据端口*/void display(void) lcd_char_write(9,1,mun_to_chardisbuff3); /显示距离*.*cm lcd_char_write(10,1,mun_to_chardisbuff2); lcd_char_write(11,1,mun_to_chardisbuff1); lcd_char_write(12,1,mun_to_char16); lcd_char_write(13,1,mun_to_chardisbuff0); lcd_char_write(14,1,mun_to_char18); lcd_char_write(15,1,mun_to_char19);void lcd_delay(uint ms) /*LCD1602 延时*/ uchar j; while(ms-) for(j=0;j250;j ) ; void lcd_system_reset() /*LCD1602 初始化*/ lcd_delay(20); lcd_command_write(0x38); lcd_delay(100); lcd_command_write(0x38); lcd_delay(50); lcd_command_write(0x38); lcd_delay(10); lcd_command_write(0x08); lcd_command_write(0x01); lcd_command_write(0x06); lcd_command_write(0x0c); lcd_data_port = 0xff; /*释放数据端口*/void Conut(void) time=TH0*256 TL0; TH0=0; TL0=0; S=(time*1.7)/10; /算出来是MM if(S=5) lb_1=0; y_1=0;y_2=1; z_1=0;z_2=0; else lb_1 ; if(lb_1=5) lb=0; y_1=0;y_2=1; z_1=0;z_2=0; if(flag=1) flag=0; disbuff0=S; disbuff1=S/10; disbuff2=S/100; disbuff3=S/1000;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; void Timer_Count(void)TR0=1; /开启计数while(RX);/当RX为1计数并等待 TR0=0;/关闭计数 Conut();/计算void main() /*主函数*/ unsigned int i=0; unsigned int valA; void inti(); lcd_system_reset(); /*LCD1602 初始化*/ for(j=0;j16;j )/显示Welcome to the g lcd_char_write(j,0,mun_to_char1j); for(j=0;j16;j )/显示raduation design lcd_char_write(j,1,mun_to_char1j 16); lcd_delay(2000); /延时函数 for(j=0;j16;j )/清屏 lcd_char_write(j,0,mun_to_char8j); for(j=0;j16;j )/清屏 lcd_char_write(j,1,mun_to_char8j 16); for(j=0;j16;j )/显示The car lcd_char_write(j,0,mun_to_char2j); for(j=0;j16;j )/显示reversing radar lcd_char_write(j,1,mun_to_char2j 16); lcd_delay(2000); /延时函数 for(j=0;j16;j )/清屏 lcd_char_write(j,0,mun_to_char8j); for(j=0;j16;j )/清屏 lcd_char_write(j,1,mun_to_char8j 16); for(j=0;j16;j )/显示Designer: lcd_char_write(j,0,mun_to_char4j); for(j=0;j16;j )/显示li lcd_char_write(j,1,mun_to_char4j 16); lcd_delay(2000); /延时函数 for(j=0;j16;j )/清屏 lcd_char_write(j,0,mun_to_char8j); for(j=0;j0;valA-) /多次测量提升可靠性 if(RX=1) Timer_Count();/时间计数 void display();/调用显示void timer0() interrupt 1 /*定时器0中断函数*/ flag=1; /中断溢出标志RX=0;void timer1() interrupt 3 /*定时器1中断函数*/ jishu ; TH1=(65536