51单片机超声波避障小车Proteus仿真程序 -

/* Main.c file generated by New Project wizard
*
* Created: 周五 4月 3 2020
* Processor: AT89C52
* Compiler: Keil for 8051
*/
#include <reg51.h>
#include <stdio.h>
#include <intrins.h>
#define TX P1_3
#define RX P1_2
#define Forward_L_DATA 180
#define Forward_R_DATA 180
/*****°′???-í??ó???¨ò?******/
sbit L293D_IN1=P0^0;
sbit L293D_IN2=P0^1;
sbit L293D_IN3=P0^2;
sbit L293D_IN4=P0^3;
sbit L293D_EN1=P0^4;
sbit L293D_EN2=P0^5;
sbit BUZZ=P0^6;
void Delay400Ms(void);
unsigned char disbuff[4]={0,0,0,0};
void Count(void);
unsigned int time=0;
unsigned long S=0;
bit flag =0;
bit turn_right_flag;
//**********************************************************
//oˉêy??3?:Delay1ms(unsigned int i)
//oˉêy1|?ü:?óê±i*1msμ?×ó3ìDò(??ó|óú22.1184Mhz?§??)
//D?ê?2?êy:unsigned int i
//DD2??μ?÷:?T
//·μ??2?êy:?T
//ê1ó??μ?÷:i?aòa?óê±μ?ê±??3¤?è￡?μ￥??ê?MS￡?×?′ó?éò??óê±65536 ms
//**********************************************************
void Delay1ms(unsigned int i)
{
unsigned char j,k;
do{
j = 10;
do{
k = 50;
do{
_nop_();
}while(--k);
}while(--j);
}while(--i);
}
//**********************************************************
//oˉêy??3?:Delay10us(unsigned char i)
//oˉêy1|?ü:?óê±i*10usμ?×ó3ìDò(??ó|óú22.1184Mhz?§??)
//D?ê?2?êy:?T
//DD2??μ?÷:?T
//·μ??2?êy:?T
//ê1ó??μ?÷:i?aòa?óê±μ?ê±??3¤?è￡?μ￥??ê?US￡?×?′ó?éò??óê±250 ms
//**********************************************************
void Delay10us(unsigned char i)
{
unsigned char j;
do{
j = 10;
do{
_nop_();
}while(--j);
}while(--i);
}
//=========================================================================================================================
void Forward()// ?°??
{
L293D_IN1=1;
L293D_IN2=0;
L293D_IN3=1;
L293D_IN4=0;
// PWM_Set(255-Speed_Right,255-Speed_Left);
}
void Stop(void) //é23μ
{
L293D_IN1=0;
L293D_IN2=0;
L293D_IN3=0;
L293D_IN4=0;
// PWM_Set(0,0);
}
void Turn_Retreat() //oó
{
L293D_IN1=0;
L293D_IN2=1;
L293D_IN3=0;
L293D_IN4=1;
// PWM_Set(255-Speed_Right,255-Speed_Left);
}
void Turn_left() //×ó
{
L293D_IN1=0;
L293D_IN2=1;
L293D_IN3=1;
L293D_IN4=0;
// PWM_Set(255-Speed_Right,255-Speed_Left);
}
//=========================================================================================================================
/********?àà?????3ìDò***************/
void Conut(void)
{
time=TH1*256+TL1;
TH1=0;
TL1=0;
S=time*2;
S=S*0.17;
if(S<=300)
{
if(turn_right_flag!=1)
{
Stop();
Delay1ms(5);
}
turn_right_flag=1;
P1_7=0;
P2_0=0;
P0_6=0;
Delay1ms(10);
P1_7=1;
P2_0=1;
P0_6=1;
Delay1ms(5);
Turn_left();
Delay1ms(10);
}
else
{
turn_right_flag=0;
Forward();
}
if((S>=5000)||flag==1)
{
flag=0;
}
else
{
disbuff[0]=S%10;
disbuff[1]=S/10%10;
disbuff[2]=S/100%10;
disbuff[3]=S/1000;
}
}
/********************************************************/
void zd0() interrupt 3
{
flag=1;
RX=0;
}
/********3?éù2¨??μ?????3??í?è????3ìDò***************/
void Timer_Count(void)
{
TR1=1;
while(RX);
TR1=0;
Conut();
}
/********************************************************/
void StartModule()
{
TX=1;
Delay10us(2);
TX=0;
}
/********************************************************/
/*************?÷3ìDò********************/
void main(void)
{
unsigned char i;
unsigned int a;
Delay1ms(400);
// LCMInit()
Delay1ms(5);
TMOD=TMOD|0x10;
EA=1;
TH1=0;
TL1=0;
ET1=1;
turn_right_flag=0;
BUZZ=0;
Delay1ms(50);
BUZZ=1;
while(1)
{
RX=1;
StartModule();
for(a=951;a>0;a--)
{
if(RX==1)
{
Timer_Count();
}
}
}
}
}

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