自动避障红外电动小车C51程序
单片机源程序如下:
- #include"reg51.h"
- #include<intrins.h>
- #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<ListLength;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;}
- ……………………
- …………限于本文篇幅 余下代码请从51黑下载附件…………
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