红外避障电动小车C51程序

1、红外避障电动小车C51程序时间:2009-05-13本源:作者:点击：1400字体大小:【大中小】#includereg51.h#include#defineucharunsignedchar#defineuintunsignedint#defineleft_infrare0#defineright_infrare1#definedj_state10X5F/前进#definedj_state20X4F/右转#definedj_state30X1F/左转#definedj_state40X0F/退后#definedj_state50XfF/停车#definelight_off0 x0f/关转向灯

2、#defineleft_light0X5F/左转向灯两个是5f#defineright_light0XaF/右转向灯0 xaf，两个是0 xbf#defineback_light0XcF/刹车灯即后灯#definefront_light0 x3f/前灯#definelight_on0 xff/开所有灯#definetrue1#definefalse0#defineLCD_DataP0#defineBusy0 x80/用于检测LCD状态字中的Busy表记sbitc=P12;/转向灯使能端ucharcodetalk1=backward;ucharcodetalk2=forward;ucharcod

3、etalk3=Turnleft;ucharcodetalk4=Turnright;ucharflage=0 x00;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;voidDelay5Ms(void)uintTempCyc=5552;while(TempCyc-);/400ms延时voidDelay400Ms(void)ucharTempCycA=5;uintTempCycB;whil

4、e(TempCycA-)TempCycB=7269;while(TempCycB-);/LCD读状态unsignedcharReadStatusLCD(void)LCD_Data=0 xFF;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voidWriteDataLCD(unsignedcharWDLCD)ReadStatusLCD();/检测忙LCD_Data=WDLCD;LCD_RS=1;LCD_RW=0;LCD_E=0;/若晶振速度太高能够在这后加小

5、的延时LCD_E=0;/延时,为了安全LCD_E=0;/延时LCD_E=1;/LCD写指令voidWriteCommandLCD(unsignedcharWCLCD,BuysC)if(BuysC)ReadStatusLCD();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;voidLCDInit(void)/LCD/依照需要检测忙初始化,BuysC为0时忽略忙检测Delay400Ms();LCD_Data=0;WriteCommandLCD(0 x38,0);Delay5Ms();Writ

6、eCommandLCD(0 x38,0);Delay5Ms();WriteCommandLCD(0 x38,0);Delay5Ms();/三次显示模式设置，不检测忙信号WriteCommandLCD(0 x38,1);/显示模式设置,开始要求每次检测忙信号WriteCommandLCD(0 x08,1);/关闭显示WriteCommandLCD(0 x01,1);/显示清屏WriteCommandLCD(0 x06,1);/显示光标搬动设置WriteCommandLCD(0 x0C,1);/显示开及光标设置/按指定地址显示一个字符voidDisplayOneChar(ucharX,ucharY

7、,ucharDData)Y&=0 x1;X&=0 xF;/限制X不能够大于15，Y不能够大于1if(Y)X|=0 x40;/当要显示第二行时地址码+0 x40;X|=0 x80;/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);按指定地址显示一串字符(只能写一行)；voidDisplayListChar(ucharX,ucharY,ucharListLength,uchar*DData,ucharn)uchari;Y&=0 x01;X&=0 x0F;/限制X不能够大于15，Y不能够大于1for(i=0;iList

8、Length;i+)if(X左右发射管的选择uchari;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|=0 x0c;/04for(i=timer;i0;i-)if(n)P0=0 x08;/右发射管经过载波发射信号/00elseP0=0 x04;/左发射管经过载波发射信号/0cdelay(100);/这里控制着矫捷度（控制38khz的方波的多少）和距离/timer*delay(x)即为发射管获取的平均电流P1&=0Xfb;IE&=0Xfe;/led转向灯指示子程序voidlight_control(uchar

9、deng)ledcs=1;P0=deng;ledcs=0;/11111011电机和灯光的控制部分voidcontrol(ucharn,uchardj_state,ucharlight)uchari;/P1|=0 x04;light_control(light);/led转向指示灯delay(100);P2=dj_state;/电机的方向控制WriteCommandLCD(0 x01,1);/LCD显示清屏switch(dj_state)casedj_state2:DisplayListChar(3,1,10,talk4,false);break;casedj_state3:DisplayLis

10、tChar(3,1,8,talk3,false);break;casedj_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(0 x01,1);/LCD显示清屏P2=dj_state1;/前进if(dj_state1)P1|=0X04;/ledcs=1;P0=0 x0f;P1&=0XFB;delay(100);DisplayListChar(0,

11、0,7,talk2,false);/*避障主要控制部分*/voidmove_car(void)uchartemp=0 x00;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=0 x01)temp|=0 x01;flage=0 x00;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=0 x01)temp|=0 x02;flage=0 x00;左边有阻挡物，右转if(temp=0 x01)control(2,dj_state2,left_light);temp=0 x00;右边有阻挡物，左转elseif(temp=0 x02)control(2,dj_state3,right_light);temp=0 x00;两个方向都有阻挡物，退后，右转elseif(temp=0 x03)control(10,dj_state4,back_light);control(5,dj_state2,right_light);temp=0 x00;voidmain(void)Init0();/中断初始化P1|=0X04;/开锁存器的