51小车测速及OLED显示速度

最新推荐文章于 2024-05-01 01:00:20 发布

趣知boy

最新推荐文章于 2024-05-01 01:00:20 发布

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分类专栏：嵌入式开发文章标签：单片机嵌入式硬件

本文链接：https://blog.csdn.net/m0_67794575/article/details/131011880

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1.小车测速

用途：广泛用于电机转速检测，脉冲计数,位置限位等。
有遮挡，输出高电平；无遮挡，输出低电平
接线

VCC 接电源正极3.3-5V
GND 接电源负极
DO TTL开关信号输出
AO 此模块不起作用

测试原理和单位换算

轮子走一圈，经过一个周长，C = 2x3.14x半径= 3.14 x 直径（6.5cm）
对应的码盘也转了一圈，码盘有20个格子，每经过一个格子，会遮挡（高电平）和不遮挡（低电平），
那么一个脉冲就是走了 3.14 * 6.5 cm /20 = 1.0205CM
定时器可以设计成一秒，统计脉冲数，一个脉冲就是1cm
假设一秒有80脉冲，那么就是80cm/s

#include "reg52.h"	//超声波控制LED
#include "intrins.h"
#include "stdio.h" 

sbit ex1_interrupt=P3^2;      //外部中断3.2

//int num;  //计数
unsigned int num=0;
int num_speed;   //速度的次数，一个脉冲就是走了 3.14 * 6.5 cm /20 = 1.0205CM
char speed[10];
 
void Delay10us();  //延时10us
void Delay500ms();  //延时500ms
void Delay150ms();  //延时150ms
void Delay2000ms();  //延时2s

void Timer0_Init(void);
void int0_init(void);
void init_usb(void);
void data_uart_transport(char *p);

void main()
{
	init_usb();     //串口初始化
  Timer0_Init();	//配置定时器0        //模拟1s
	int0_init();   //外部中断初始化
	
	while(1){
		
  }
}
//

void UART_Pountine(void) interrupt 4
{
	//static int i=0;
	//static char cmd[12];
 
	if(TI){
		//Delay500ms();
		//led2=~led2;	  //每次发送完一个字符h e l就进入一次，因为太快，所以感觉一直亮着
	}
	if(RI){				   //接受外部数据后产生中断	 进入interrupt 4

	}
}
 
void init_usb(void)
{
	SCON=0x50;//采用工作方式1进行通讯
	PCON &= 0x7F;  //要清0就 &上0
	ET1=0;//串口用的定时器1，关闭中断。配置相同的波特率
	//TCON 定时器控制寄存器
	TR1=1;  //打开定时器1
	//TMOD? 定时器模式寄存器
	TMOD &=0x0F; //&0就清0
	TMOD |=0x20; // |1就变1
	TH1=0xFD; //高位? ? ? 自动重装时TH1将自动装入TL1
	TL1=0xFD; //低位
	//TI 中断请求标志位   RI中断请求标志位
	EA=1;ES=1;   //总中断允许位  串口中断允许位 
}

void data_uart_transport(char *p)
{
	while(*p != '\0'){
		SBUF= *(p++);	 //发送完成后产生中断   进入interrupt 4
		while(!TI);
		TI=0;			
		}			
}

void int0_init(void)
{
	EA=1;	   //总中断已在定时器0初始化中断中开启
  EX0=1;	   //定时器0中断
	IT0=1;     //下降沿触发
}
void Int0_Routine(void) interrupt 0
{
	num_speed++;
}

void Timer0_Init(void)		//0.5ms@11.0592MHz    //模拟PWM
{
				//定时器时钟12T模式
	TMOD &= 0xF0;			//设置定时器模式
	TMOD |= 0x01;			//设置定时器模式
	TL0 = 0x33;				//设置定时初始值
	TH0 = 0xFE;				//设置定时初始值
	TF0 = 0;				//清除TF0标志
	TR0 = 1;				//定时器0开始计时
	
	EA=1;	   //打开总中断
  ET0=1;	   //定时器0中断
}

void Timer0_rountinr(void) interrupt 1	  //每0.5ms进入一次定时器0的中断   
{
	
	num++;
	TL0 = 0x33;				//设置定时初始值
	TH0 = 0xFE;				//设置定时初始值

	if(num==2000){	 //满足1s  num重置 计算速度
		sprintf(speed,"speed: %d \r\n",num_speed);
		data_uart_transport(speed);                  //中断1中嵌套了中断4不知道可以不？
		num=0;   //重新计时1s
		num_speed=0;  // 重新计速度
	}
}

2.速度OLED显示

OLED屏幕会给一些原始的代码，可以在此基础上更改

共3个文件

main.c

#include "reg52.h"	//超声波控制LED
#include "intrins.h"
#include "stdio.h" 
#include "Oled.h"

sbit ex1_interrupt=P3^2;      //外部中断3.2

//int num;  //计数
unsigned int num=0;
int num_speed;   //速度的次数，一个脉冲就是走了 3.14 * 6.5 cm /20 = 1.0205CM
char speed[10];
 
void Delay10us();  //延时10us
void Delay500ms();  //延时500ms
void Delay150ms();  //延时150ms
void Delay2000ms();  //延时2s

void Timer0_Init(void);
void int0_init(void);
void init_usb(void);
void data_uart_transport(char *p);

void main()
{
	init_usb();     //串口初始化
  Timer0_Init();	//配置定时器0        //模拟1s
	int0_init();   //外部中断初始化
	Oled_Init();
	Oled_Clear();
	while(1){
		
		Oled_Show_Str(2,2,speed);
  }
}
//

void UART_Pountine(void) interrupt 4
{
	//static int i=0;
	//static char cmd[12];
 
	if(TI){
		//Delay500ms();
		//led2=~led2;	  //每次发送完一个字符h e l就进入一次，因为太快，所以感觉一直亮着
	}
	if(RI){				   //接受外部数据后产生中断	 进入interrupt 4

	}
}
 
void init_usb(void)
{
	SCON=0x50;//采用工作方式1进行通讯
	PCON &= 0x7F;  //要清0就 &上0
	ET1=0;//串口用的定时器1，关闭中断。配置相同的波特率
	//TCON 定时器控制寄存器
	TR1=1;  //打开定时器1
	//TMOD? 定时器模式寄存器
	TMOD &=0x0F; //&0就清0
	TMOD |=0x20; // |1就变1
	TH1=0xFD; //高位? ? ? 自动重装时TH1将自动装入TL1
	TL1=0xFD; //低位
	//TI 中断请求标志位   RI中断请求标志位
	EA=1;ES=1;   //总中断允许位  串口中断允许位 
}

void data_uart_transport(char *p)
{
	while(*p != '\0'){
		SBUF= *(p++);	 //发送完成后产生中断   进入interrupt 4
		while(!TI);
		TI=0;			
		}			
}

void int0_init(void)
{
	EA=1;	   //总中断已在定时器0初始化中断中开启
  EX0=1;	   //定时器0中断
	IT0=1;     //下降沿触发
}
void Int0_Routine(void) interrupt 0
{
	num_speed++;
}

void Timer0_Init(void)		//0.5ms@11.0592MHz    //模拟PWM
{
				//定时器时钟12T模式
	TMOD &= 0xF0;			//设置定时器模式
	TMOD |= 0x01;			//设置定时器模式
	TL0 = 0x33;				//设置定时初始值
	TH0 = 0xFE;				//设置定时初始值
	TF0 = 0;				//清除TF0标志
	TR0 = 1;				//定时器0开始计时
	
	EA=1;	   //打开总中断
  ET0=1;	   //定时器0中断
}

void Timer0_rountinr(void) interrupt 1	  //每0.5ms进入一次定时器0的中断   
{
	
	num++;
	TL0 = 0x33;				//设置定时初始值
	TH0 = 0xFE;				//设置定时初始值

	if(num==2000){	 //满足1s  num重置 计算速度
		sprintf(speed,"speed: %d \r\n",num_speed);
		data_uart_transport(speed);                  //中断1中嵌套了中断4不知道可以不？
		num=0;   //重新计时1s
		num_speed=0;  // 重新计速度
	}
}

Oled.c

#include "reg52.h"
#include "intrins.h"
#include "Oledfont.h"


sbit scl = P1^2;
sbit sda = P1^3;

void IIC_Start()
{
	scl = 0;
	sda = 1;
	scl = 1;
	_nop_();
	sda = 0;
	_nop_();
}

void IIC_Stop()
{
	scl = 0;
	sda = 0;
	scl = 1;
	_nop_();
	sda = 1;
	_nop_();
}

char IIC_ACK()
{
	char flag;
	sda = 1;//灏卞湪鏃堕挓鑴夊啿9鏈熼棿閲婃斁鏁版嵁绾?
	_nop_();
	scl = 1;
	_nop_();
	flag = sda;
	_nop_();
	scl = 0;
	_nop_();
	
	return flag;
}

void IIC_Send_Byte(char dataSend)
{
	int i;
	
	for(i = 0;i<8;i++){
		scl = 0;//scl鎷変綆锛岃sda鍋氬ソ鏁版嵁鍑嗗
		sda = dataSend & 0x80;//1000 0000鑾峰緱dataSend鐨勬渶楂樹綅锛岀粰sda
		_nop_();//鍙戦€佹暟鎹缓绔嬫椂闂?
		scl = 1;//scl鎷夐珮寮€濮嬪彂閫?
		_nop_();//鏁版嵁鍙戦€佹椂闂?
		scl = 0;//鍙戦€佸畬姣曟媺浣?
		_nop_();//
		dataSend = dataSend << 1;
	}
}

void Oled_Write_Cmd(char dataCmd)
{
	//	1. start()
	IIC_Start();
	//		
	//	2. 鍐欏叆浠庢満鍦板潃  b0111 1000 0x78
	IIC_Send_Byte(0x78);
	//	3. ACK
	IIC_ACK();
	//	4. cotrol byte: (0)(0)000000 鍐欏叆鍛戒护   (0)(1)000000鍐欏叆鏁版嵁
	IIC_Send_Byte(0x00);
	//	5. ACK
	IIC_ACK();
	//6. 鍐欏叆鎸囦护/鏁版嵁
	IIC_Send_Byte(dataCmd);
	//7. ACK
	IIC_ACK();
	//8. STOP
	IIC_Stop();
}

void Oled_Write_Data(char dataData)
{
	//	1. start()
	IIC_Start();
	//		
	//	2. 鍐欏叆浠庢満鍦板潃  b0111 1000 0x78
	IIC_Send_Byte(0x78);
	//	3. ACK
	IIC_ACK();
	//	4. cotrol byte: (0)(0)000000 鍐欏叆鍛戒护   (0)(1)000000鍐欏叆鏁版嵁
	IIC_Send_Byte(0x40);
	//	5. ACK
	IIC_ACK();
	///6. 鍐欏叆鎸囦护/鏁版嵁
	IIC_Send_Byte(dataData);
	//7. ACK
	IIC_ACK();
	//8. STOP
	IIC_Stop();
}


void Oled_Init(void){
	Oled_Write_Cmd(0xAE);//--display off
	Oled_Write_Cmd(0x00);//---set low column address
	Oled_Write_Cmd(0x10);//---set high column address
	Oled_Write_Cmd(0x40);//--set start line address  
	Oled_Write_Cmd(0xB0);//--set page address
	Oled_Write_Cmd(0x81); // contract control
	Oled_Write_Cmd(0xFF);//--128   
	Oled_Write_Cmd(0xA1);//set segment remap 
	Oled_Write_Cmd(0xA6);//--normal / reverse
	Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)
	Oled_Write_Cmd(0x3F);//--1/32 duty
	Oled_Write_Cmd(0xC8);//Com scan direction
	Oled_Write_Cmd(0xD3);//-set display offset
	Oled_Write_Cmd(0x00);//
	
	Oled_Write_Cmd(0xD5);//set osc division
	Oled_Write_Cmd(0x80);//
	
	Oled_Write_Cmd(0xD8);//set area color mode off
	Oled_Write_Cmd(0x05);//
	
	Oled_Write_Cmd(0xD9);//Set Pre-Charge Period
	Oled_Write_Cmd(0xF1);//
	
	Oled_Write_Cmd(0xDA);//set com pin configuartion
	Oled_Write_Cmd(0x12);//
	
	Oled_Write_Cmd(0xDB);//set Vcomh
	Oled_Write_Cmd(0x30);//
	
	Oled_Write_Cmd(0x8D);//set charge pump enable
	Oled_Write_Cmd(0x14);//
	
	Oled_Write_Cmd(0xAF);//--turn on oled panel		
}

void Oled_Clear()
{
	unsigned char i,j; //-128 --- 127
	
	for(i=0;i<8;i++){
		Oled_Write_Cmd(0xB0 + i);//page0--page7
		//姣忎釜page浠?鍒?
		Oled_Write_Cmd(0x00);
		Oled_Write_Cmd(0x10);
		//0鍒?27鍒楋紝渚濇鍐欏叆0锛屾瘡鍐欏叆鏁版嵁锛屽垪鍦板潃鑷姩鍋忕Щ
		for(j = 0;j<128;j++){
			Oled_Write_Data(0);
		}
	}
}

void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
	unsigned int  i;
	Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0
	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
	Oled_Write_Cmd(0x10+(col>>4));                            //high	
	for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
		Oled_Write_Data(F8X16[i]);                            //鍐欐暟鎹畂ledTable1
	}

	Oled_Write_Cmd(0xb0+(row*2-1));                           //page 1
	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
	Oled_Write_Cmd(0x10+(col>>4));                            //high
	for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
		Oled_Write_Data(F8X16[i]);                            //鍐欐暟鎹畂ledTable1
	}		
}


/******************************************************************************/
// 鍑芥暟鍚嶇О锛歄led_Show_Char 
// 杈撳叆鍙傛暟锛歰ledChar 
// 杈撳嚭鍙傛暟锛氭棤 
// 鍑芥暟鍔熻兘锛歄LED鏄剧ず鍗曚釜瀛楃
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){
	while(*str!=0){
		Oled_Show_Char(row,col,*str);
		str++;
		col += 8;	
	}		
}

Oledfont.h


const unsigned char code F8X16[]=	  
{
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};

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51小车测速及OLED显示速度

VCC 接电源正极3.3-5VGND 接电源负极DO TTL开关信号输出AO 此模块不起作用测试原理和单位换算轮子走一圈，经过一个周长，C = 2x3.14x半径= 3.14 x 直径（6.5cm）对应的码盘也转了一圈，码盘有20个格子，每经过一个格子，会遮挡（高电平）和不遮挡（低电平），那么一个脉冲就是走了 3.14 * 6.5 cm /20 = 1.0205CM定时器可以设计成一秒，统计脉冲数，一个脉冲就是1cm假设一秒有80脉冲，那么就是80cm/s。
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