单片机遥控音乐灯闪烁等功能程序(共17页)

1、#include /包含(bohn)51单片机相关的头文件#define uint unsigned int /重定义无符号(fho)整数类型#define uchar unsigned char /重定义无符号(fho)字符类型uchar code LedShowData=0 x03,0 x9F,0 x25,0 x0D,0 x99, /定义数码管显示数据 0 x49,0 x41,0 x1F,0 x01,0 x19;/0,1,2,3,4,5,6,7,8,9uchar code RecvData=0 x07,0 x0A,0 x1B,0 x1F,0 x0C,0 x0D,0 x0E,0 x00,0

2、x0F,0 x19;uchar IRCOM7; /接收数据缓冲区static unsigned int LedFlash; /定义闪动频率计数变量unsigned char RunFlag=0; /定义运行标志位/*完成基本数据变量定义*/ sbit LeftLed=P20; /定义前方左侧指示灯端口sbit RightLed=P07;sbit Led=P10; /定义前方右侧指示灯端口 sbit M1A=P00; /定义电机1正向端口sbit M1B=P01; /定义电机1反向端口sbit M2A=P02; /定义电机2正向端口sbit M2B=P03;sbit MUSIC=P06;sbit

3、 IRIN=P33;sbit LED1=P11;sbit LED2=P12;sbit LED3=P13;sbit LED4=P14;sbit LED5=P15;sbit LED6=P16;sbit LED7=P17;sbit LeftIR1=P31; /定义前方左侧红外探头端口sbit RightIR1=P34; /定义前方右侧红外探头端口sbit FontIR1=P30;#define LED P1 /定义电机2反向端口/*完成电机端口定义*/ typedef structunsigned char h;unsigned char l;FREQ_T;typedef structFREQ_T

4、* freq;unsigned char time;NOTE_T;#defineTIME_1_321#defineTIME_1_162#defineTIME_1_84#defineTIME_1_48#defineTIME_1_216#defineTIME_1_132extern void initialize_music(void);extern FREQ_T * s; void initialize_music(void); code FREQ_T LDO = 0 xf2,0 x4b; code FREQ_T LDOR= 0 xf3,0 x09; code FREQ_T LRE = 0 xf

5、3,0 xca; code FREQ_T LRER= 0 xf4,0 x75; code FREQ_T LMI = 0 xf5,0 x20; code FREQ_T LFA = 0 xf5,0 xb8; code FREQ_T LFAR= 0 xf6,0 x4e; code FREQ_T LSO = 0 xf6,0 xd9; code FREQ_T LSOR= 0 xf7,0 x5c; code FREQ_T LLA = 0 xf7,0 xda; code FREQ_T LLAR= 0 xf8,0 x4f; code FREQ_T LSI = 0 xf8,0 xbf; code FREQ_T

6、DO = 0 xf9,0 x26; code FREQ_T DOR= 0 xf9,0 x89; code FREQ_T RE = 0 xf9,0 xce; code FREQ_T RER= 0 xfa,0 x3f; code FREQ_T MI = 0 xfa,0 x92; code FREQ_T FA = 0 xfa,0 xe0; code FREQ_T FAR= 0 xfb,0 x2b; code FREQ_T SO = 0 xfb,0 x71; code FREQ_T SOR= 0 xfb,0 xb3; code FREQ_T LA = 0 xfb,0 xf1; code FREQ_T

7、LAR= 0 xfc,0 x2c; code FREQ_T SI = 0 xfc,0 x64; code FREQ_T HDO = 0 xfc,0 x97; code FREQ_T HDOR= 0 xfc,0 xc9; code FREQ_T HRE = 0 xfc,0 xf8; code FREQ_T HRER= 0 xfd,0 x24; code FREQ_T HMI = 0 xfd,0 x4d; code FREQ_T HFA = 0 xfd,0 x75; code FREQ_T HFAR= 0 xfd,0 x9a; code FREQ_T HSO = 0 xfd,0 xbd; code

8、 FREQ_T HSOR= 0 xfd,0 xde; code FREQ_T HLA = 0 xfd,0 xfd; code FREQ_T HLAR= 0 xfe,0 x1a; code FREQ_T HSI = 0 xfe,0 x36; code FREQ_T PAUSE=0,0; FREQ_T freq; code NOTE_T alice= &HMI,TIME_1_16, &HRER,TIME_1_16, &HMI,TIME_1_16, &HRER,TIME_1_16, &HMI,TIME_1_16, &SI,TIME_1_16, &HRE,TIME_1_16, &HDO,TIME_1_

9、16, &LA,TIME_1_8, &PAUSE,TIME_1_16, &DO,TIME_1_16, &MI,TIME_1_16, &LA,TIME_1_16, &SI,TIME_1_8, &PAUSE,TIME_1_16, &MI,TIME_1_16, &SOR,TIME_1_16, &SI,TIME_1_16, &HDO,TIME_1_8, &PAUSE,TIME_1_16, &MI,TIME_1_16, &HMI,TIME_1_16, &HRER,TIME_1_16, &HMI,TIME_1_16, &HRER,TIME_1_16, &HMI,TIME_1_16, &SI,TIME_1_

10、16, &HRE,TIME_1_16, &HDO,TIME_1_16, &LA,TIME_1_8, &PAUSE,TIME_1_16, &DO,TIME_1_16, &MI,TIME_1_16, &LA,TIME_1_16, &SI,TIME_1_8, &PAUSE,TIME_1_16, &MI,TIME_1_16, &HDO,TIME_1_16, &SI,TIME_1_16, &LA,TIME_1_8, &PAUSE,TIME_1_16, &SI,TIME_1_16, &HDO,TIME_1_16, &HRE,TIME_1_16, &HMI,TIME_1_16, &HMI,TIME_1_8,

11、 &SO,TIME_1_16, &HFA,TIME_1_16, &HMI,TIME_1_16, &HRE,TIME_1_16, &HRE,TIME_1_8, &FA,TIME_1_16, &HMI,TIME_1_16, &HRE,TIME_1_16, &HDO,TIME_1_16, &HDO,TIME_1_8, &MI,TIME_1_16, &HRE,TIME_1_16, &HDO,TIME_1_16, &SI,TIME_1_16, &SI,TIME_1_8, &MI,TIME_1_16, &HMI,TIME_1_16, &MI,TIME_1_16, &HMI,TIME_1_16, &MI,T

12、IME_1_16, &HMI,TIME_1_16, &HRER,TIME_1_16, &HMI,TIME_1_16, &HRER,TIME_1_16, &HMI,TIME_1_16, &HRER,TIME_1_16, &HMI,TIME_1_16, &HRER,TIME_1_16,; /定义(dngy)红外接收端口/*完成(wn chng)红外接收端口的定义*/#define ShowPort P2 /定义(dngy)数码管显示端口extern void ControlCar(uchar CarType); /声明小车控制子程序void interrupt_timer1(void) inter

13、rupt 3 static unsigned char count=0; static unsigned char countb=0; static unsigned char i=0; unsigned char k; TH1=0X70;/20msTL1=0X00;count+;if(count=5) count=0;countb+;if(countb=alicei.time)countb=0;k=i+1;if(k = sizeof(alice)/sizeof(NOTE_T)k=0;freq.h=alicek.freq-h;freq.l=alicek.freq-l;i+;if(i=(size

14、of(alice)/sizeof(NOTE_T)i=0; void interrupt_timer0(void) interrupt 1TH0=freq.h;/60HzTL0=freq.l;if(freq.h | freq.l)MUSIC=!MUSIC; void initialize_music(void) TMOD|=0X01; /T0 16bit MODE; TMOD|=0X10; freq.h=alice0.freq-h; freq.l=alice0.freq-l; TH0=freq.h; TL0=freq.l; TF0=0; TR0=1; /start timer0 ET0=1; /

15、Timer0 interrupt enable TF1=0; TR1=1; ET1=1; EA=1; /interrupt enable void delay(unsigned char x) /0.14mS延时程序(chngx) unsigned char i; /定义(dngy)临时变量 while(x-) /延时时间(shjin)循环 for (i = 0; i13; i+) /14mS延时 void Delay() /定义(dngy)延时子程序 uint DelayTime=30000; /定义(dngy)延时时间变量 while(DelayTime-); /开始进行延时循环 retu

16、rn; /子程序返回void Delay1()unsigned int DelayTime=50000; /定义可变延时函数while(DelayTime-); /定义前方左侧指示灯端口 void Delay6(unsigned int DelayTime) while(DelayTime-); void Delay2()unsigned int DelayTime=2000; /定义可变延时函数 while(DelayTime-);Led= Led; if(ShowPort=LedShowData3) RightLed=1;LeftLed=LeftLed; if(ShowPort=LedSh

17、owData4) LeftLed=1;RightLed=RightLed; /定义前方左侧指示灯端口 return ; /延时函数进入倒计时void Delay5() /定义机器人调转子时间子程序 unsigned int DelayTime=20000; /定义机器人转弯时间变量 while(DelayTime-); /机器人转弯循环 MUSIC=!MUSIC; /蜂鸣器闪响 return;void Delay7()unsigned int DelayTime=2000; /定义可变延时函数 while(DelayTime-);LED1= LED1 ; if(ShowPort=LedShow

18、Data3) RightLed=1;LeftLed=LeftLed; if(ShowPort=LedShowData4) LeftLed=1; RightLed=RightLed; /定义前方(qinfng)左侧指示灯端口 return ; /延时函数(hnsh)进入倒计时void Delay8()unsigned int DelayTime=2000; /定义(dngy)可变延时函数 while(DelayTime-);LED2= LED2; if(ShowPort=LedShowData3) RightLed=1;LeftLed=LeftLed; if(ShowPort=LedShowDa

19、ta4) LeftLed=1; RightLed=RightLed; /定义前方左侧指示灯端口 return ; /延时函数进入倒计时void Delay9()unsigned int DelayTime=2000; /定义可变延时函数 while(DelayTime-);LED3= LED3; if(ShowPort=LedShowData3) RightLed=1;LeftLed=LeftLed; if(ShowPort=LedShowData4) LeftLed=1; RightLed=RightLed; /定义前方左侧指示灯端口 return ; /延时函数进入倒计时void Dela

20、y10()unsigned int DelayTime=2000; /定义可变延时函数 while(DelayTime-);LED4= LED4 ; if(ShowPort=LedShowData3) RightLed=1;LeftLed=LeftLed; if(ShowPort=LedShowData4) LeftLed=1; RightLed=RightLed; /定义前方左侧指示灯端口 return ; /延时函数进入倒计时 void Delay11()unsigned int DelayTime=2000; /定义可变延时函数 while(DelayTime-);LED5= LED5

21、; if(ShowPort=LedShowData3) RightLed=1;LeftLed=LeftLed; if(ShowPort=LedShowData4) LeftLed=1; RightLed=RightLed; /定义前方(qinfng)左侧指示灯端口 return ; /延时函数(hnsh)进入倒计时void Delay12()unsigned int DelayTime=2000; /定义(dngy)可变延时函数 while(DelayTime-);LED6= LED6 ; if(ShowPort=LedShowData3) RightLed=1;LeftLed=LeftLed

22、; if(ShowPort=LedShowData4) LeftLed=1;RightLed=RightLed; /定义前方左侧指示灯端口 return ; /延时函数进入倒计时void Delay13()unsigned int DelayTime=2000; /定义可变延时函数 while(DelayTime-);LED7= LED7 ; if(ShowPort=LedShowData3)RightLed=1;LeftLed=LeftLed; if(ShowPort=LedShowData4) LeftLed=1;RightLed=RightLed; /定义前方左侧指示灯端口 return

23、 ; /延时函数进入倒计时void pao() Delay2(); Delay2(); Led=1; Delay7(); Delay7(); LED1=1; Delay8(); Delay8(); LED2=1; Delay9(); Delay9(); LED3=1; Delay10(); Delay10(); LED4=1; Delay11(); Delay11(); LED5=1; Delay12(); Delay12(); LED6=1; Delay13(); Delay13(); LED7=1;void Flash1() unsigned int CountData=0; while(

24、1) if(CountData90) Delay6(5000); else if(CountData100) CountData=0; CountData=CountData+1; LeftLed=1; Led=Led; LED1= LED1 ; LED2= LED2 ; LED3= LED3 ; LED4= LED4 ; LED5= LED5 ; LED6= LED6 ; LED7= LED7 ; RightLed=RightLed; if(IRIN=0) break; void Flash2() unsigned int CountData=0; while(1) if(CountData

25、90) Delay6(5000); else if(CountData100) CountData=0; CountData=CountData+1; Led=Led; LED1= LED1 ; LED2= LED2 ; LED3= LED3 ; LED4= LED4 ; LED5= LED5 ; LED6= LED6 ; LED7= LED7 ; LeftLed=LeftLed; RightLed=1; if(IRIN=0) break; void bzang() LeftLed=LeftIR1; /前方左侧指示(zhsh)灯指示出前方左侧红外探头 RightLed=RightIR1; M1

26、A=1; /避障子(zhng zi)程序 while(1) if(FontIR1=1&LeftIR1=0& RightIR1=1) ControlCar(4); Delay5(); Delay5(); ControlCar(1); MUSIC=1; else if(FontIR1=1&LeftIR1=1& RightIR1=0) ControlCar(3); Delay5();Delay5(); ControlCar(1); MUSIC=1; else if(FontIR1=1&LeftIR1=1& RightIR1=1) M1A=1; /将电机(dinj)1正向端口置高 M2A=1; Del

27、ay5(); MUSIC=1; else if(FontIR1=1&LeftIR1=0& RightIR1=0) ControlCar(1); Delay5(); MUSIC=1; else if(FontIR1=0& LeftIR1=0 & RightIR1=1) ControlCar(2); Delay5(); ControlCar(4); Delay5(); ControlCar(1); MUSIC=1; else if(FontIR1=0&LeftIR1=1& RightIR1=0) ControlCar(2); Delay5(); ControlCar(3); Delay5(); C

28、ontrolCar(1); MUSIC=1; else if(FontIR1=0&LeftIR1=0& RightIR1=0) ControlCar(2); Delay5(); Delay5(); ControlCar(5); MUSIC=1; else if(FontIR1=0 & LeftIR1=1& RightIR1=1) ControlCar(2); Delay5(); Delay5(); Delay5(); ControlCar(3); Delay5();Delay5();Delay5();Delay5();Delay5(); ControlCar(1);MUSIC=1;if(IRI

29、N=0) break; void ControlCar(uchar CarType) /定义(dngy)小车控制子程序 M1A=0; /将电机(dinj)1正向电平置低 M1B=0; /将电机(dinj)1反向电平置低 M2A=0; /将电机2正向电平置低 M2B=0; Delay(); /将电机2反向电平置低 switch(CarType) /判断小车控制指令类型 case 1: /前进 /判断是否是前进 M1A=1; /将电机1正向端口置高 M2A=1; LeftLed=0; /定义前方左侧指示灯端口 RightLed=0; ShowPort=LedShowData1; /数码管显示前进状

30、态 break; /退出判断 case 2: /后退(hutu) /判断是否是后退 M1B=1; /将电机(dinj)1反向端口置高 M2B=1; LeftLed=1; /定义前方(qinfng)左侧指示灯端口 RightLed=1; /将电机2反向端口置高 ShowPort=LedShowData2; /数码管显示后退状态 /将前方左侧指示灯置低(亮) break; /退出判断 case 3: /左转 /判断是否是左转 M1B=1; /将电机1反向端口置高 M2A=1; /将电机2正向端口置高 ShowPort=LedShowData3; /数码管显示左转状态 /将前方左侧指示灯置低(亮)

31、break; /退出判断 case 4: /右转 /判断是否是右转 M1A=1; /将电机1正向端口置高 M2B=1; /将电机2反向端口置高 ShowPort=LedShowData4; /数码管显示右转状态 /将前方右侧指示灯置低(亮) break; /退出判断 case 5: /停止 /判断是否是右转 M1A=0; /将电机1正向端口置高 M2B=0; M1B=0; /将电机1反向端口置高 M2A=0; /将电机2反向端口置高 ShowPort=LedShowData5; /数码管显示右转状态 /将前方右侧指示灯置低(亮) break; /退出判断 default: /默认情况下的判断

32、break; /直接退出判断 void IR_IN() interrupt 2 using 0 /定义INT2外部中断函数 unsigned char j,k,N=0; EX1 = 0; /关闭外部中断,防止再有信号到达 delay(15); /延时时间，进行红外消抖 if (IRIN=1) /判断红外信号是否消失 EX1 =1; /外部(wib)中断开return; /返回(fnhu) while (!IRIN) /等IR变为高电平，跳过9ms的前导(qindo)低电平信号。 delay(1); /延时等待 for (j=0;j4;j+) /采集红外遥控器数据 for (k=0;k=30)

33、/判断计数器累加值 EX1=1; /打开外部中断功能 return; /返回 IRCOMj=IRCOMj 1; /进行数据位移操作并自动补零 if (N=8) /判断数据长度 IRCOMj = IRCOMj | 0 x80; /数据最高位补1 N=0; /清零位数计录器 if (IRCOM2!=IRCOM3) /判断地址码是否相同 EX1=1; /打开外部中断 return; /返回 for(j=0;j10;j+) /循环进行(jnxng)键码解析 if(IRCOM2=RecvDataj) /进行(jnxng)键位对应 P2=LedShowDataj; /数码管显示相应(xingyng)数码

34、switch(IRCOM2) case 0 x1A: /全力前进 ControlCar(1); LeftLed=0; /定义前方左侧指示灯端口 RightLed=0; LED=0; /定义前方左侧指示灯端口 break; case 0 x05: /全力后退 ControlCar(2);LED=LED; break; case 0 x01: /全力左转 ControlCar(3);Flash2(); break; case 0 x03: /全力右转 ControlCar(4); Flash1() ; break; case 0 x12: /电源 ControlCar(5); LeftLed=1; /定义前方左侧指示灯端口 RightLed=1; /停止 break; case 0