标题: 单片机智能小车源程序-仅供参考 [打印本页]

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作者: zzh啊    时间: 2018-5-2 11:09
标题: 单片机智能小车源程序-仅供参考
这是我个人根据学到知识所编辑的一个源程序，仅供参考，有用的话，拿去不谢。

单片机源程序如下:

1. #include
   
2. #define uint unsigned int
   
3. #define uchar unsigned char
   
4. #define ulong unsigned long
   
5. sbit you_2=P2^0; //红外探测端口定义
   
6. sbit you_1=P2^1;
   
7. sbit zhong=P2^2;
   
8. sbit zuo_1=P2^3;
   
9. sbit zuo_2=P2^4;
   
10. sbit CG=P0^1;
    
11. sbit DC=P0^0;
    
12. uchar code L_F[8]= {0x10,0x30,0x20,0x60,0x40,0xc0,0x80,0x90}; //左电机正转 uchar code L_B[8]= {0x90,0x80,0xc0,0x40,0x60,0x20,0x30,0x10}; //左电机反转 uchar code R_F[8]= {0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09}; //右电机正转 uchar code R_B[8]= {0x09,0x08,0x0c,0x04,0x06,0x02,0x03,0x01}; //右电机反转 uchar code B_F[8]= {0x91,0x83,0xc2,0x46,0x64,0x2c,0x38,0x19}; //左反右正 uchar code F_B[8]= {0x19,0x38,0x2c,0x64,0x46,0xc2,0x83,0x91}; //左正右反 uchar code duandian[8]={0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; //断电
    
13. unsigned char code qianjin[]={0x11,0x33,0x22,0x66,0x44,0xcc,0x88,0x99}; //前进 unsigned char h[]={0x11,0x33,0x22,0x66,0x44,0xcc,0x88,0x99}; //
    
14. uchar i;
    
15. void delay(uint z)
    
16. {
    
17. uint k ;
    
18. uint j;
    
19. for(k=0; k
    
20. for(j=0; j
    
21. }
    
22. void QJ(unsigned int i)
    
23. {
    
24. for(i=0;i
    
25. {
    
26. P1=h[i]=qianjin[i];
    
27. delay(13);
    
28. }
    
29. }
    
30. void DD()
    
31. {
    
32. P1=0x00;
    
33. delay(300);
    
34. }
    
35. void wtj()
    
36. {
    
37. while(1)
    
38. {
    
39. if(P2==0xff)
    
40. {
    
41. DD();
    
42. delay(1000);
    
43. break;
    
44. }
    
45. else
    
46. {
    
47. QJ(8);}
    
48. }
    
49. }
    
50. void YG_1()
    
51. {
    
52. unsigned char i; for(i=0;i
    
53. }
    
54. }
    
55. void ZG_1()
    
56. { unsigned char i; for(i=0;i
    
57. {P1=h[i]=B_F[i]; delay(10);
    
58. }
    
59. }
    
60. void byg()
    
61. {
    
62. while(1)
    
63. {
    
64. if(P2==0xfb)
    
65. break;
    
66. else if(P2==0xf9) break;
    
67. else if(P2==0xfd) break;
    
68. /* if(P2^0==0)
    
69. break;
    
70. else if(P2^1==0) break;
    
71. /* else if(P2^2==0) break;
    
72. else if(P2^3==0) break;
    
73. else if(P2^4==0) break;*/
    
74. else
    
75. YG_1();
    
76. }
    
77. }
    
78. void bzg()
    
79. {
    
80. while(1)
    
81. {
    
82. if(P2==0xfb)
    
83. break;
    
84. else if(P2==0xf3) break;
    
85. else if(P2==0xf7) break;
    
86. /* if(P2^0==0)
    
87. break;
    
88. else if(P2^1==0) break;
    
89. else if(P2^2==0) break;
    
90. if(P2^3==0)
    
91. break;
    
92. else if(P2^4==0)
    
93. break;*/
    
94. else
    
95. ZG_1();
    
96. }
    
97. }
    
98. void YG_2()
    
99. {
    
100. // unsigned char i; // unsigned char g;
     
101. if(P2==0xfa)
     
102. {//delay(4000);
     
103. wtj();
     
104. byg();
     
105. /*for(g=0;g
     
106. {
     
107. for(i=0;i
     
108. { P1=F_B[i];
     
109. delay(20);
     
110. }
     
111. } */
     
112. }
     
113. else if(P2==0xf2)
     
114. {
     
115. //delay(4000);
     
116. wtj();
     
117. byg();
     
118. /*for(g=0;g
     
119. {
     
120. for(i=0;i
     
121. { P1=F_B[i];
     
122. delay(20);
     
123. }
     
124. }*/
     
125. }
     
126. else if(P2==0xf6)
     
127. {
     
128. //delay(4000);
     
129. byg();
     
130. /*for(g=0;g
     
131. {
     
132. for(i=0;i
     
133. { P1=F_B[i];
     
134. delay(20);
     
135. }
     
136. }*/
     
137. }
     
138. else if(P2==0xf4) {
     
139. //delay(4000);
     
140. wtj();
     
141. byg();
     
142. /*for(g=0;g
     
143. {
     
144. for(i=0;i
     
145. { P1=F_B[i];
     
146. delay(20);
     
147. }
     
148. }*/
     
149. }
     
150. else ;
     
151. }
     
152. void ZG_2()
     
153. {
     
154. //unsigned char i;
     
155. //unsigned char g;
     
156. if(P2==0xeb)
     
157. {//delay(4000);
     
158. wtj();
     
159. bzg();
     
160. /*for(g=0;g
     
161. {
     
162. for(i=0;i
     
163. {P1=B_F[i];
     
164. delay(20);
     
165. }
     
166. }*/
     
167. else if(P2==0xe9)
     
168. {
     
169. //delay(4000);
     
170. wtj();
     
171. bzg();
     
172. /* for(g=0;g
     
173. for(i=0;i
     
174. {P1=B_F[i];
     
175. delay(20);
     
176. }
     
177. }*/
     
178. }
     
179. else if(P2==0xed)
     
180. {
     
181. //delay(4000);
     
182. wtj();
     
183. bzg();
     
184. /* for(g=0;g
     
185. for(i=0;i
     
186. {P1=B_F[i];
     
187. delay(20);
     
188. }
     
189. }*/
     
190. }
     
191. else if(P2==0xe5) {
     
192. //delay(4000);
     
193. wtj();
     
194. bzg();
     
195. /* for(g=0;g
     
196. for(i=0;i
     
197. {P1=B_F[i];
     
198. delay(20);
     
199. }
     
200. }*/
     
201. }
     
202. else ;
     
203. }
     
204. void ZG() {
     
205. unsigned char i; for(i=0;i
     
206. {
     
207. P1=h[i]=R_F[i]; delay(11);
     
208. }
     
209. }
     
210. void YG() {
     
211. unsigned char i; for(i=0;i
     
212. {
     
213. P1=h[i]=L_F[i]; delay(11);
     
214. }
     
215. }
     
216. /*void HT()
     
217. {
     
218. unsigned char i; for(i=0;i
     
219. {
     
220. P1=houtui[i]; delay(55);
     
221. }
     
222. }*/
     
223. void zd()
     
224. {
     
225. while(1)
     
226. {if(P2==0xe0)
     
227. QJ(8);
     
228. else if(P2==0xff) {
     
229. while(1)
     
230. {
     
231. DD();
     
232. }
     
233. }
     
234. else
     
235. {
     
236. QJ(80);
     
237. if(P2==0xff) {
     
238. while(1)
     
239. {
     
240. DD();
     
241. }
     
242. }
     
243. else
     
244. {DC=0;
     
245. break;
     
246. break;}
     
247. }
     
248. }
     
249. }
     
250. void zd1()
     
251. {
     
252. while(1)
     
253. {if(P2==0xe0)
     
254. QJ(8);
     
255. else if(P2==0xff) {
     
256. while(1)
     
257. {
     
258. DD();
     
259. }
     
260. }
     
261. else
     
262. {
     
263. QJ(80);
     
264. if(P2==0xff)
     
265. while(1)
     
266. {
     
267. DD();
     
268. }
     
269. }
     
270. else
     
271. {DC=0;
     
272. break;
     
273. }
     
274. }
     
275. }
     
276. }
     
277. void hy()
     
278. {
     
279. unsigned char i;
     
280. for(i=0;i
     
281. {
     
282. P1=h[i];
     
283. delay(10);
     
284. }
     
285. }
     
286. void main()
     
287. {
     
288. DC=1;
     
289. while(1)
     
290. {
     
291. QJ(8);
     
292. if(P2!=0xff)
     
293. {
     
294. delay(9000); break;
     
295. }
     
296. }
     
297. while(1)
     
298. {
     
299. DC=1;
     
300. if(CG==1)
     
301. {delay(9000);
     
302. DC=1;
     
303. while(1)
     
304. {
     
305. switch(P2)
     
306. {
     
307. case 0xfb:QJ(8);break;
     
308. case 0xf1:QJ(8);break;
     
309. case 0xf3:QJ(8);break; case 0xf7:ZG();break; case 0xe7:ZG_1();break; case 0xef:ZG_1();break; case 0xe3:ZG_1();break; case 0xe1:ZG_1();break;
     
310. case 0xf9:QJ(8);break; case 0xfd:YG();break; case 0xfc:YG_1();break; case 0xfe:YG_1();break; case 0xf8:YG_1();break; case 0xf0:YG_1();break;
     
311. case 0xfa:
     
312. QJ(16);
     
313. // delay(4000); YG_2();
     
314. break;
     
315. case 0xf2: //10010 //11011 //10001 //10011 //10111 //00111 //01111 //00011 //00001 //11001 //11101 //11100 //11110 //11000 //10000 //11010 //f7
     
316. QJ(16);
     
317. // delay(4000);
     
318. YG_2();
     
319. break;
     
320. case 0xf6: //10110
     
321. QJ(16);
     
322. // delay(4000);
     
323. YG_2();
     
324. break;
     
325. case 0xf4: //10100
     
326. QJ(16);
     
327. // delay(4000);
     
328. YG_2();
     
329. break;
     
330. case 0xeb:
     
331. QJ(16);
     
332. // delay(4000);
     
333. ZG_2();
     
334. break;
     
335. case 0xe9:
     
336. QJ(16);
     
337. // delay(4000);
     
338. ZG_2();
     
339. break;
     
340. case 0xed:
     
341. QJ(16);
     
342. // delay(4000);
     
343. ZG_2();
     
344. break;
     
345. case 0xe5:
     
346. //01011 //fd //01001 //01101 //00101
     
347. QJ(16);
     
348. // delay(4000);
     
349. ZG_2();
     
350. break;
     
351. case 0xe0:zd1();
     
352. break; //00000
     
353. case 0xff:hy();break;//11111
     
354. default:QJ(8); break;
     
355. }
     
356. }
     
357. }
     
358. else
     
359. {
     
360. switch(P2)
     
361. {
     
362. case 0xfb:QJ(8);break; //11011
     
363. case 0xf1:QJ(8);break; //10001
     
364. case 0xf3:QJ(8);break; //10011 case 0xf7:ZG();break; //10111 case 0xe7:ZG_1();break; //00111 case 0xef:ZG_1();break; //01111 case 0xe3:ZG_1();break; //00011 case 0xe1:ZG_1();break; //00001
     
365. case 0xf9:QJ(8);break; //11001 case 0xfd:YG();break; //11101 case 0xfc:YG_1();break; //11100 case 0xfe:YG_1();break; //11110 case 0xf8:YG_1();break; //11000
     
366. case 0xf0:YG_1();break; //10000
     
367. case 0xfa: //11010
     
368. QJ(16);
     
369. // delay(4000);
     
370. YG_2();
     
371. //f7
     
372. break;
     
373. case 0xf2: //10010
     
374. QJ(16);
     
375. // delay(4000);
     
376. YG_2();
     
377. break;
     
378. case 0xf6: //10110
     
379. QJ(16);
     
380. // delay(4000);
     
381. YG_2();
     
382. break;
     
383. case 0xf4: //10100
     
384. QJ(16);
     
385. // delay(4000);
     
386. YG_2();
     
387. break;
     
388. case 0xeb:
     
389. QJ(16);
     
390. // delay(4000);
     
391. ZG_2();
     
392. break;
     
393. case 0xe9:
     
394. QJ(16);
     
395. // delay(4000);
     
396. ZG_2();
     
397. break;
     
398. case 0xed: //01011 //fd //01001 //01101
     
399. QJ(16);
     
400. // delay(4000);
     
401. ZG_2();
     
402. break;
     
403. case 0xe5: //00101
     
404. QJ(16);
     
405. // delay(4000);
     
406. ZG_2();
     
407. break;
     
408. case 0xe0:zd();
     
409. break; //00000
     
410. case 0xff:hy();break;//11111
     
411. default:QJ(8); break;
     
412. }
     
413. }
     
414. }
     
415. }
     
416. 
     

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