#include"reg51.h"
#include
#define uchar unsigned char
#define uint unsigned int
#define left_infrare 0
#define right_infrare 1
#define dj_state1 0X5F //前进
#define dj_state2 0X4F //右转
#define dj_state3 0X1F //左转
#define dj_state4 0X0F //后退
#define dj_state5 0XfF //停车
#define light_off 0x0f //关转向灯
#define left_light 0X5F //左转向灯 两个是5f
#define right_light 0XaF //右转向灯0xaf,两个是0xbf
#define back_light 0XcF //刹车灯即后灯
#define front_light 0x3f //前灯
#define light_on 0xff //开所有灯
#define true 1
#define false 0
#define LCD_Data P0
#define Busy 0x80 //用于检测LCD状态字中的Busy标识
sbit c=P1^2; //转向灯使能端
uchar code talk1[]={"backward"};
uchar code talk2[]={"forward"};
uchar code talk3[]={"Turnleft"};
uchar code talk4[]={"Turn right"};
uchar flage =0x00;
sbit ledcs=P1^2; //74H573的片选信号
//sbit left_led=P0^2; //左红外发射管
//sbit right_led=P0^3; //右红外发射管
sbit LCD_RS = P1^5; //LCD定义引脚
sbit LCD_RW = P1^6; //
sbit LCD_E = P1^7 ;
void Delay5Ms(void)
{
uint TempCyc = 5552;
while(TempCyc--);
}
//400ms延时
void Delay400Ms(void)
{uchar TempCycA = 5;
uint TempCycB;
while(TempCycA--)
{ TempCycB=7269;
while(TempCycB--);
}
}
//LCD读状态
unsigned char ReadStatusLCD(void)
{
LCD_Data = 0xFF;
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
void WriteDataLCD(unsigned char WDLCD )
{
ReadStatusLCD(); //检测忙
LCD_Data = WDLCD;
LCD_RS=1;
LCD_RW =0;
LCD_E = 0; //若晶振速度太高可以在这后加小的延时
LCD_E = 0; //延时 ,为了安全
LCD_E = 0; //延时
LCD_E = 1;
}
//LCD写指令
void WriteCommandLCD(unsigned char WCLCD,BuysC)
{
if (BuysC) ReadStatusLCD(); //根据需要检测忙,BuysC为0时忽略忙检测
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;
}
void LCDInit(void) //LCD初始化
{
Delay400Ms();
LCD_Data = 0;
WriteCommandLCD(0x38,0); //三次显示模式设置,不检测忙信号
Delay5Ms();
WriteCommandLCD(0x38,0);
Delay5Ms();
WriteCommandLCD(0x38,0);
Delay5Ms();
WriteCommandLCD(0x38,1); //显示模式设置,开始要求每次检测忙信号
WriteCommandLCD(0x08,1); //关闭显示
WriteCommandLCD(0x01,1); //显示清屏
WriteCommandLCD(0x06,1); // 显示光标移动设置
WriteCommandLCD(0x0C,1); // 显示开及光标设置
}
//按指定位置显示一个字符
void DisplayOneChar(uchar X, uchar Y, uchar DData)
{
Y &= 0x1;
X &= 0xF; //限制X不能大于15,Y不能大于1
if (Y)
X |= 0x40; //当要显示第二行时地址码+0x40;
X |= 0x80; // 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);
}
//按指定位置显示一串字符(只能写一行);
void DisplayListChar(uchar X, uchar Y,uchar ListLength, uchar *DData,uchar n)
{ uchar i;
Y &= 0x01;
X &= 0x0F; //限制X不能大于15,Y不能大于1
for(i=0;i
{ if (X <= 0x0F) //X坐标应小于0xF
{ DisplayOneChar(X, Y, DData[i]); //显示单个字符
if(n==true)Delay400Ms();
X++;
}
}
}
/****************************
红外线接收子程序,利用了中断的下降沿触发方式
****************************/
void infrared_ray()interrupt 0 using 3
{ uchar i=90;
flage=0x01; //接受标志位
while(i--); //减小灵敏度
EX0=0; //关掉中断,等到发射方波后才开启,处于别动
}
// 延时子程序
void delay(uint n)
{
while(--n);
}
//中断初始化
void Init0(void)
{ EA=1;
IT0=1;
}
/***************************************
/*原理是把中断打开并 发射方波,
当有中断时就转到中断产生中断位为下一步转向做准备,
当没有是关闭中断
****************************************/
void seng_wave(uchar timer,bit n)//timer通过载波发射信号的时间,n->左右发射管的选择
{ uchar i;
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 |=0x0c; //04
for(i=timer;i>0;i--)
{ if(n)P0^=0x08; // 右发射管通过载波发射信号//00
else P0^=0x04; // 左发射管通过载波发射信号//0c
delay(100); //这里控制着灵敏度(控制38khz的方波的多少)和距离
} //timer*delay(x)即为发射管得到的平均电流
P1 &= 0Xfb;
IE &= 0Xfe;
}
//led转向灯指示子程序
void light_control(uchar deng)
{ ledcs=1;
P0 =deng;
ledcs=0; //11111011
}
//电机和灯光的控制部分
void control(uchar n,uchar dj_state,uchar light)
{ uchar i;
// P1|=0x04;
light_control(light); //led转向指示灯
delay(100);
P2 =dj_state; //电机的方向控制
WriteCommandLCD(0x01,1); //LCD显示清屏
switch(dj_state)
{ case dj_state2 :{ DisplayListChar(3,1,10,talk4,false);}break;
case dj_state3: { DisplayListChar(3,1,8,talk3,false);}break;
case dj_state4: { DisplayListChar(3,1,7,talk1,false); }break;
default :break;
}
for(i=n;i>0;i--)
{delay(2000);}
P2=dj_state5; //停车
light_control(light_off); //led关闭
WriteCommandLCD(0x01,1); //LCD显示清屏
P2=dj_state1; //前进
if(dj_state1)
{ P1|=0X04; //ledcs=1;
P0=0x0f;
P1&=0XFB;
delay(100);
DisplayListChar(0,0,7,talk2,false);
}
}
/****************************************
避障主要控制部分
*****************************************/
void move_car(void)
{
uchar temp =0x00;
//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==0x01){temp|=0x01;flage=0x00;}
//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==0x01){temp|=0x02;flage=0x00;}
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