红外避障电动小车C51程序

红外避障电动小车C51程序时间:2009-05-13 来源: 作者: 点击：1400 字体大小:【大中小】#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1if (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1for(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; //04for(i=timer;i>0;i--){ if(n)P0^=0x08; // 右发射管通过载波发射信号//00else P0^=0x04; // 左发射管通过载波发射信号//0cdelay(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;}//左边有障碍物，右转if(temp==0x01){control(2,dj_state2,left_light); temp =0x00;}//右边有障碍物，左转else if(temp==0x02) {control(2,dj_state3,right_light ); temp =0x00;}//两个方向都有障碍物，后退，右转else if(temp==0x03) {control(10,dj_state4,back_light );control(5,dj_state2,right_light ); temp =0x00;}}void main(void){ Init0(); //中断初始化P1 |= 0X04; //开锁存器的控制位P0 = 0xFf; //数据口的清零P1&=0XFB; //关锁存器的控制位LCDInit(); //LCD初始化WriteCommandLCD(0x01,1); //显示清屏delay(100);P2=dj_state1;DisplayListChar(0,0,8,talk2,false);while(1){ move_car(); //主要控制部分delay(200000);//延时}}。