声音导引系统的设计

目录附录3程序#include<reg52.h>#include<math.h>#defineucharunsignedchar#defineuintunsignedint//*****函数定义****voidlong_delay(void);//长延时voidshort_delay(void);//短延时voiddelay10ms(unsignedchar);//延时10MSunsignedcharcodekeybcd[]={0,0x0c,9,5,1,0x0e,0x0a,7,3,0x0d,0,6,2,0x0f,0x0b,8,4};charii=0;//******I/O定义***变量***sbiten1=P0^7;/*MMC的EnableA*/sbiten2=P0^2;/*MMC的EnableB*/sbits1=P0^6;/*MMC的Input1*/sbits2=P0^4;/*MMC的Input2*/sbits3=P0^3;/*MMC的Input3*/sbits4=P0^5;/*MMC的Input4*/uchart=0;/*中断计数器*/ucharm1=0;/*电机1速度值*/ucharm2=0;/*电机2速度值*/uchartmp1,tmp2;/*电机当前速度值*/unsignedchardigit[5];unsignedcharkey_number,j,k;unsignedinttmr;unsignedlongwait_cnter;sbita=P2^0;sbitb=P2^1;sbitc=P2^2;//cssbitclk=P2^3;//clksbitdat=P2^4;//datsbitkey=P3^2;//key//******显示指令******#defineCMD_RESET0xa4//复位#defineCMD_TEST0xbf//测试#defineDECODE00x80//译码0#defineDECODE10xc8//译码1#defineDECODE80xcf#defineCMD_READ0x15#defineUNDECODE0x90//不译码#defineRTL_CYCLE0xa3//循环左移#defineRTR_CYCLE0xa2//循环右移#defineRTL_UNCYL0xa1//左移#defineRTR_UNCYL0xa0//右移#defineACTCTL0x98//消隐#defineSEGON0xe0//段点亮#defineSEGOFF0xc0//段关闭#defineBLINKCTL0x88//闪烁//********************************************//voidwrite(unsignedcharcmd,unsignedchardta){send_byte(cmd);send_byte(dta);}unsignedcharread(unsignedcharcommand){send_byte(command);return(receive_byte());}voidsend_byte(unsignedcharout_byte){unsignedchari;a=0; b=0; c=0;long_delay();for(i=0;i<8;i++){if(out_byte&0x80){dat=1;}else{dat=0;}clk=1;short_delay();clk=0;short_delay();out_byte=out_byte*2;}dat=0;}unsignedcharreceive_byte(void){unsignedchari,in_byte;dat=1;//long_delay();for(i=0;i<8;i++){clk=1;short_delay();in_byte=in_byte*2;if(dat){in_byte=in_byte|0x01;}clk=0;short_delay();}dat=0;return(in_byte);}voidlong_delay(void){unsignedchari;for(i=0;i<0x30;i++);}voidshort_delay(void){unsignedchari;for(i=0;i<8;i++);}//*********************n*10ms**********************voiddelay10ms(unsignedchartime){unsignedchari;unsignedintj;for(i=0;i<time;i++){for(j=0;j<0x390;j++){if(!key){;}}}}//************************************************voidtimer0()interrupt1/*T0中断服务程序*/{if(t==0)/*1个PWM周期完成后才会接受新数值*/{tmp1=m1;tmp2=m2;}if(t<tmp1)en1=1;elseen1=0;/*产生电机1的PWM信号*/if(t<tmp2)en2=1;elseen2=0;/*产生电机2的PWM信号*/t++;if(t>=100)t=0;/*1个PWM信号由100次中断产生*/}//************************************************/*电机控制函数index-电机号(1,2);speed-电机速度(-100—100)*/voidmotor(ucharindex,charspeed){if(speed>=-100&&speed<=100){if(index==1)/*电机1的处理*/{m1=abs(speed);/*取速度的绝对值*/if(speed<0)/*速度值为负则反转*/{s1=0;s2=1;}else/*不为负数则正转*/{s1=1;s2=0;}}if(index==2)/*电机2的处理*/{m2=abs(speed);/*电机2的速度控制*/if(speed<0)/*电机2的方向控制*/{s3=0;s4=1;}else{s3=1;s4=0;}}}}//***主程序***main(){for(tmr=0;tmr<0x2000;tmr++);//上电延时send_byte(CMD_RESET);//复位HD7279Asend_byte(CMD_TEST);//测试指令delay10ms(50);//延时1Ssend_byte(CMD_RESET);//复位while(1){wait_cnter=0;key_number=0xff;if(!key)/*key_dis();*/ TMOD=0x02;/*设定T0的工作模式为2*/ TH0=0x9B;/*装入定时器的初值*/ TL0=0x9B; EA=1;/*开中断*/ ET0=1;/*定时器0允许中断*/ TR0=1;/*启动定时器0*/ for(j=0;j<=100;j++)/*正转加速*/ { motor(1,j); motor(2,j); delay10ms(5); } for(j=100;j>0;j--)/*正转减速*/ { motor(1,j); motor(2,j); delay10ms(5); } EA=0;/*开中断*/ ET0=0;/*定时器0允许中断*/ TR0=0;/*启动定时器0*/ break; case0x1b: write7279(DECODE8,0x0f); TMOD=0x02;/*设定T0的工作模式为2*/ TH0=0x9B;/*装入定时器的初值*/ TL0=0x9B; EA=1;/*开中断*/ ET0=1;/*定时器0允许中断*/ TR0=1;/*启动定时器0*/ for(j=0;j<=100;j++)/*反转加速*/ { motor(1,-