超聲波避障小車編程程序

附錄：超聲波避障小車程序源代碼#include"warterlight.h"#include"steer.h"#include<reg52.h>voiddelay_ms(unsignedintms);externvoidwrite_com(unsignedchardat,unsignedchartest_flag);externvoidwrite_date(unsignedchardat);externvoiddisplay(void);externvoidinit1602();externvoidforward();externvoidstop();externvoidturn_left();externvoidturn_right();externvoidbackward();unsignedchardistance;sbitso=P3人4;sbitled=P1A5;voiddisplay(void){unsignedcharge,shi,bai,d;d=(unsignedchar)distance;bai=d/100;ge=d%10;shi=d/10%10;write_com(0x80+0x0b,0);write_date(bai+0x30);write_date(shi+0x30);write_date(ge+0x30);}voidmain(void){chari;unsignedintk=0,j=0;so=0;init1602();//液晶初始化while(1){k=0;/*產(chǎn)生約5us的脈沖*/so=1;i++;i++;i++;so=0;delay_nus(50);/*延時一段時間，度過不穩(wěn)定期*/while(so)//脈沖來了{k++;//表征脈沖的寬度}if(k){distance=k/10;display();if(distance>10){led=1;for(j=3;j>0;j--){forward();}}else{led=0;turn_left();}}}}#include"steer.h"#include<reg52.h>sbitP1_O=PMO;sbitP1_1=P1A1；voiddelay_nus(unsignedinti){i=i/10;while(--i);}voidforward(){P1_0=1;delay_nus(1300);P1_0=0;P1_1=1;delay_nus(1700);P1_1=0;delay_nus(20000);TR1=1;}voidstop(){P1_0=1;delay_nus(1500);P1_0=0;P1_1=1;delay_nus(1500);P1_1=0;delay_nus(20000);TR1=1;}voidbackward(){P1_0=1;delay_nus(1700);P1_0=0;P1_1=1;delay_nus(1300);P1_1=0;delay_nus(20000);}voidturn_left(){unsignedinti;for(i=30;i>0;i--){P1_0=1;delay_nus(1300);P1_0=0;P1_1=1;delay_nus(1300);P1_1=0;delay_nus(20000);}}voidturn_right(){unsignedinti;for(i=30;i>0;i--){TR1=0;P1_0=1;delay_nus(1700);P1_0=0;P1_1=1;delay_nus(1700);P1_1=0;delay_nus(20000);TR1=1;}}#include"waterlight.h"#include<reg52.h>#defineuintunsignedint#defineucharunsignedcharvoiddelay_ms(uintms);voidinit1602(void);voidwrite_com(uchardat,uchartest_flag);voidwrite_date(uchardat);voiddisplay(void);voidbusy(void);sbitLcd_rs=P2人2;sbitLcd_rw=P2A1;sbitLcd_en=P2A0；ucharcodeTAB1[]="distancecm";voiddelay_ms(uintms){uintx,y;for(x=ms;x>0;x--)for(y=70;y>0;y--);}voidwrite_com(uchardat,uchartest_flag){uchartemp;if(test_flag==1)busy();Lcd_rw=0;Lcd_rs=0;P0=0x0f;//置高temp=0xf0&dat;P0=temp;Lcd_en=1;Lcd_en=1;Lcd_en=0;P0=0x0f;temp=(0x0f&dat)<<4;P0=temp;Lcd_en=1;Lcd_en=1;Lcd_en=0;}voidwrite_date(uchardat){uchartemp;busy();Lcd_rw=0;Lcd_rs=1;P0=0x0f;temp=0xf0&dat;P0=temp;Lcd_en=1;Lcd_en=1;Lcd_en=0;P0=0x0f;temp=(0x0f&dat)<<4;P0=temp;Lcd_en=1;Lcd_en=1;Lcd_en=0;}voidinit1602(void){uchari;Lcd_rw=0;delay_ms(20);Lcd_en=0;write_com(0x28,0);delay_ms(1);write_com(0x28,0);delay_ms(1);write_com(0x28,0);delay_ms(1);write_com(0x28,1);write_com(0x08,1);write_com(0x0c,1);write_com(0x06,1);write_com(0x01,1);write_com(0x80+0x00,0);for(i=0;i<16;i++){write_date(TABl[i]);//寫第一行}