智能小车循迹、避障、红外遥控c语言代码

/智能小车避障、循迹、红外遥控C语言代码/实现功能有超声波避障，红外遥控智能小车，红外传感器实现小车自动循迹，1602显示小车的工作状态，另有三个独立按键分别控制三种状态的转换/注每个小车的引脚配置都不一样，要注意引脚的配置，但是我的代码注释比较多，看起来比较容易一点INCLUDEINCLUDEINCLUDE“LCDH“INCLUDEDEFINEUCHARUNSIGNEDCHARDEFINEUINTUNSIGNEDINTUCHARENCHAR_PUZH18“RUN“/1602显示数组UCHARENCHAR_PUZH28“BACK“UCHARENCHAR_PUZH38“STOP“UCHARENCHAR_PUZH48“LEFT“UCHARENCHAR_PUZH58“RIGHT“UCHARENCHAR_PUZH68“XUNJI“UCHARENCHAR_PUZH78“BIZHANG“UCHARENCHAR_PUZH88“YAOKONG“DEFINEHWP2/红外传感器引脚配置P2K口DEFINEPWMP1/L298N管脚定义/超声波引脚控制/SBITECHOP32/超声波接收引脚定义兼红外遥控按键STATE_TOTAL2SBITTRIGP33/超声波发送引脚定义/红外控制引脚配置SBITKEY2P37/红外接收器数据线兼循迹按键STATE_TOTAL0SBITKEY1P34/独立按键P34控制自动避障STATE_TOTAL1UCHARSTATE_TOTAL3,STATE_20/总状态控制全局变量0为自动循迹模块1为自动避障模块2为红外遥控UCHARSTATE_1,DAT/红外扫描标志位UCHARTIME_10,TIME_20/定时器1中断全局变量TIME_2控制PWM脉冲计数TIME_1控制转弯延时计数也做延时一次0005SUCHARTIME,TIMEH,TIMEL,STATE0/超声波测量缓冲变量STATE为超声波状态检测控制全局变量UINTCOUNT0/1602显示计数/UNSIGNEDCHARIRCOM7/红外接收头接收数据缓存IRCOM2存放的为数据UNSIGNEDCHARNUMBER,DISTANCE4,DATE_DATA80,0,0,0,0,0,0,0/红外接收缓存变量/VOIDIRDELAYCHARX/X014MS红外头专用DELAYVOIDRUNVOIDBACKVOIDSTOPVOIDLEFT_90VOIDLEFT_180VOIDRIGHT_90VOIDDELAYUINTDAT/VOIDINIT_TESTVOIDDELAY_100MSUINTMSVOIDDISPLAYUCHARTEMP/超声波显示驱动VOIDBIZHANG_TESTVOIDXUNJI_TESTVOIDHONGWAI_TESTVOIDDELAY10MSVOIDVOIDINIT_TEST/定时器01外部中断01延时初始化TMOD0X11/设置定时器01工作方式116位初值定时器TH10XFE/装入初值定时一次为00005S2000HZTL10X0CTF00/定时器0方式1计数溢出标志TF10/定时器1方式1计数溢出标志ET01/允许定时器0中断溢出ET11/允许定时器1中断溢出EA1/开总中断IFSTATE_TOTAL1/为超声波模块时初始化TRIG0/发射引脚低电平ECHO0/接收引脚低电平EX00/关闭外部中断IT01/由高电平变低电平，触发外部中断0IFSTATE_TOTAL2/红外遥控初始化IT11/外部中断1为负跳变触发EX11/允许外部中断1TRIG1/33为高电平I/O口初始化DELAY60/等待硬件操作VOIDMAINUINTIDELAY50INIT_TESTTR11/开启定时器1LCD1602_INITDELAY50WHILESTATE_20IFKEY10/检测按键S1是否按下DELAY10MS/消除抖动IFKEY10STATE_TOTAL0/总状态定义0为自动循迹模块1为自动避障模块2为红外遥控WHILEI30EX11RETURN/014MS计数过长自动离开。/高电平计数完毕IRCOMJIRCOMJ1/数据最高位补“0”IFN8IRCOMJIRCOMJ|0X80/数据最高位补“1”N0/ENDFORK/ENDFORJIFIRCOM2IRCOM3/判断数据码与数据反码是否正确真确返回EX11RETURNEX11VOIDTIME1_SUSPEND1VOIDINTERRUPT3/3为定时器1的中断号1定时器0的中断号0外部中断12外部中断04串口中断TH10XEC/装入初值定时一次为00005S2000HZTL10X78TIME_2/控制PWM脉冲计数IFSTATE_TOTAL3/判断进入按键是否按下进入状态1避障或者0循迹STATE_21/退出按键判断/IFTIME_2100TIME_20ELSEIFTIME_20CFORB38B0BFORA130A0AVOIDDELAYUINTDAT/延时函数用于初始化UINTIFORIDATI0I_NOP_VOIDDELAY_100MSUINTMS/延时函数用于超声波UINTI,JFORIMSI0IFORJ200J0J_NOP_NOP_NOP_NOP_NOP_/小车前进VOIDRUNVOIDPWM0X56/小车后退VOIDBACKVOIDPWM0XA9TR11TIME_20WHILETIME_22/小于15厘米小车后退再左转BACKLEFT_180IFCOUNT20BAITEMP/100/1602显示数据DATE_DATA5BAISHITEMP100/10DATE_DATA6SHIGETEMP10010DATE_DATA7GEFORI0IDISTANCE1ELSEDISTANCE0DISTANCE1IFDISTANCE0DISTANCE2ELSEDISTANCE0DISTANCE2IFDISTANCE0DISTANCE3ELSEDISTANCE0DISTANCE3DISTANCE_DATDISTANCE0J0DISPLAYDISTANCE_DATCOUNTVOIDXUNJI_TESTINTIDELAY50FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH6IWHILE1/DELAY10STATE_1HWDATSTATE_1/判断低4位的状态每隔5MS检测一次SWITCHDATCASE0X00RUNBREAKCASE0X01RIGHT_120BREAKCASE0X02RIGHT_90BREAKCASE0X04LEFT_90BREAKCASE0X06RUNBREAKCASE0X03RIGHT_120BREAKCASE0X08LEFT_120BREAKCASE0X0CLEFT_120BREAKDEFAULTRUNBREAKVOIDHONGWAI_TESTINTIDELAY60FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH8I/TR11WHILE1NUMBERIRCOM2SWITCHNUMBERCASE0X18PWM0X56/前进FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH1IBREAKCASE0X08PWM0X50/右两轮正转左转FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH4IBREAKCASE0X1CPWM0X00FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH3IBREAKCASE0X5APWM0X06/左两轮正转右转FO