基于51单片机的智能超声波四轮遥控小车proteus仿真

附：http://www.jh-tec.cn/archives/7133

硬件设计

下边讲一下遥控小车，同样是基于51单片机，利用超声波进行测距，利用蓝牙模块实现遥控（仿真里边没有蓝牙，所以采用的是RS485通信模拟）

仿真图：
由LCD1602作为显示器，具有蜂鸣器报警，ULN2003A作为电机驱动，多个按键控制小车的方向和加减速，ADC0832作为ADC采集芯片。

程序设计：

#include<main.h>
#include<1602.h>
#include<motor.h>
#include<juli.h>

uint Flag_Front,Flag_Back,Flag_Left,Flag_Right,Flag_Jiasu,Flag_Jiansu,Flag_Stop;

/****
*******	延时1ms函数
*****/
void delay(uint x)
{
	uint m,n;
	for(m=x;m>0;m--)
	for(n=110;n>0;n--);
}
/****
*******	串口初始化函数 
*****/
void uart_init()
{
	TMOD=0x20;		//9600bps
	SCON=0x50;
	TH1=0xFD;
	TL1=0xFD;
	TR1=1;

	ES=1;
	EA=1;

	UART_EN=0;	   //串口一直处于接收状态
}

/****
*******	主函数 
*****/
void main()
{
	uint dis_l,dis_r;

	uart_init();
	lcd_init();

//	lcd_write_str(0x85, "--Welcome--");
//	lcd_write_str(0x86+0x40, "--An Ke--");
		lcd_write_str(0x80, "Status:Stop");
		lcd_write_str(0x80+0x40, "Dis_L:    Dis_R:");

	while(1)
	{
		dis_l=Get_AD_JL_Left_Result();//获取浓度采样值
		dis_l=dis_l*99/255;
		write_str3(2, 0x06, dis_l);
		delay(50);
		
		dis_r=Get_AD_JL_Right_Result();//获取浓度采样值
		dis_r=dis_r*99/255;
		write_str3(2, 0x10, dis_r);
		delay(50);

		if(dis_l > 1 && dis_l < 10)
		{
			Flag_Front = 0;
			Flag_Back = 0;
			Flag_Left = 0;
			Flag_Right = 1;
			Flag_Jiasu = 0;
			Flag_Jiansu = 0;
			Flag_Stop = 0;
		}
		if(dis_l <= 1)
		{
			Flag_Front = 0;
			Flag_Back = 0;
			Flag_Left = 0;
			Flag_Right = 0;
			Flag_Jiasu = 0;
			Flag_Jiansu = 0;
			Flag_Stop = 1;
		}

		if(dis_r > 1 && dis_r < 10)
		{
			Flag_Front = 0;
			Flag_Back = 0;
			Flag_Left = 1;
			Flag_Right = 0;
			Flag_Jiasu = 0;
			Flag_Jiansu = 0;
			Flag_Stop = 0;
		}
		if(dis_r <= 1)
		{
			Flag_Front = 0;
			Flag_Back = 0;
			Flag_Left = 0;
			Flag_Right = 0;
			Flag_Jiasu = 0;
			Flag_Jiansu = 0;
			Flag_Stop = 1;
		}
		
		if((dis_l > 1 && dis_l < 10) || (dis_r > 1 && dis_r < 10))
			BEEP = 0;
		else
			BEEP = 1;
		

		if(Flag_Front == 1)
		{
			lcd_write_str(0x87, "Front ");
			MotorFront(30);
		}

		if(Flag_Back == 1)
		{
			lcd_write_str(0x87, "Back  ");
			MotorBack(30);
		}

		if(Flag_Left == 1)
		{
			lcd_write_str(0x87, "Left  ");
			MotorLeft(30);
		}

		if(Flag_Right == 1)
		{
			lcd_write_str(0x87, "Right ");
			MotorRight(30);
		}

		if(Flag_Jiasu == 1)
		{
			lcd_write_str(0x87, "Jiasu ");
			MotorFront(20);
		}

		if(Flag_Jiansu == 1)
		{
			lcd_write_str(0x87, "Jiansu");
			MotorFront(50);
		}

		if(Flag_Stop == 1)
		{
			lcd_write_str(0x87, "Stop  ");
			MotorStop();
		}
	}
}
/****
*******	串口中断服务程序函数 
*****/