基于51单片机的红外遥控智能小车源程序(C语言)

/*预处理命令*/

#include //包含单片机寄存器的头文件

#include //包含_nop_()函数定义的头文件

#define uchar unsigned char

#define uint unsigned int

#define delayNOP(); {_nop_();_nop_();_nop_();_nop_();};

sbit IRIN=P3^2; //红外接收器数据线

sbit LCD_RS = P0^7;

sbit LCD_RW = P0^6;

sbit LCD_EN = P0^5;

uchar begin[]={"My car!"};

uchar cdis1[]={"jiansu!"};

uchar cdis2[]={"qianjin!"};

uchar cdis3[]={"jiasu!"};

uchar cdis4[]={"zuozhuang!"};

uchar cdis5[]={"STOP!"};

uchar cdis6[]={"youzhuan!"};

uchar cdis8[]={"daoche!"};

sbit M1 = P1^0;

sbit M2 = P1^1;

sbit M3 = P1^2;

sbit M4 = P1^3;

sbit EN12 = P1^4;

sbit EN34 = P1^5;

uchar IRCOM[7];

uchar m,n;

uchar t=2;

uchar g;

uchar code digit[]={"0123456789"};

uint v;

uchar count;

bit flag;

void delayxms(uchar t);

void delay(unsigned char x) ;

void delay1(int ms);

void motor();

void lcd_display();

/*

检查LCD忙状态

lcd_busy为1时，忙，等待。lcd-busy为0时,闲，可写指令与数据*/

bit lcd_busy()

{

bit result;

LCD_RS = 0;

LCD_RW = 1;

LCD_EN = 1;

delayNOP();

result = (bit)(P0&0x80);

LCD_EN = 0;

return(result);

}

/*

写指令数据到LCD

RS=L，RW=L，E=高脉冲，D0-D7=指令码

*/

void lcd_wcmd(uchar cmd)

{

while(lcd_busy());

LCD_RS = 0;

LCD_RW = 0;

LCD_EN = 0;

_nop_();

_nop_();

P2 = cmd;

delayNOP();

LCD_EN = 1;

delayNOP();

LCD_EN = 0;

}

/*

写显示数据到LCD

RS=H，RW=L，E=高脉冲，D0-D7=数据

*/

void lcd_wdat(uchar dat)

{

while(lcd_busy());

LCD_RS = 1;

LCD_RW = 0;

LCD_EN = 0;

P2 = dat;

delayNOP();

LCD_EN = 1;

delayNOP();

LCD_EN = 0;

}

/*

LCD初始化设定

*/

void lcd_init()

{

delay1(15);

lcd_wcmd(0x38); //16*2显示，5*7点阵，8位数据delay1(5);

lcd_wcmd(0x38);

delay1(5);

lcd_wcmd(0x38);

delay1(5);

lcd_wcmd(0x0c); //显示开，关光标

delay1(5);

lcd_wcmd(0x06); //移动光标

delay1(5);

lcd_wcmd(0x01); //清除LCD的显示内容

delay1(5);

}

/*

设定显示位置

*/

void lcd_pos(uchar pos)

{

lcd_wcmd(pos | 0x80); //数据指针=80+地址变量

}

/*x显示速度提示符*/

void display_sym(void)

{

lcd_wdat('=');

}

/*显示速度数值*/

void display_vel(uint x)

{

uchar i,j,k,l;

i=x/1000; //取千位

j=(x%1000)/100; //取百位

k=(x%100)/10; //取十位

l=x%10; //取个位

lcd_pos(0x02);

lcd_wdat(digit[i]);

lcd_wdat(digit[j]);

lcd_wdat(digit[k]);

lcd_wdat(digit[l]);

}

/*显示速度单位*/

void display_unit(void)

{

lcd_pos(0x06);

lcd_wdat('r');

lcd_wdat('/');

lcd_wdat('m');

lcd_wdat('i');

lcd_wdat('n');

}

/*

主函数

*/

/*******************************************************************/ void main()

{

uint a;

IRIN=1; //I/O口初始化

IE=0x83; //允许总中断中断,使能INT0 外部中断

TCON=TCON|0x01; //触发方式为脉冲负边沿触发

lcd_init();

TMOD=0x51;

TH0=(65536-50000)/256;

TL0=(65536-50000)/256;

TR0=1;

count=0;

display_sym();

display_vel(0);

display_unit();

lcd_pos(0x40);

g=0;

while(begin[g]!='\0')

{

lcd_wdat(begin[g]);

g++;

}

while(1)

{

TR1=1;

TH1=0;

TL1=0;

flag=0;

display_sym();

display_unit();

while(flag==0);

v=(TH1*256+TL1)*60/20;

display_vel(v);