基于51單片機(jī)的紅外遙控智能小車源程序(C語言)

1、精選優(yōu)質(zhì)文檔-傾情為你奉上精選優(yōu)質(zhì)文檔-傾情為你奉上專心-專注-專業(yè)專心-專注-專業(yè)精選優(yōu)質(zhì)文檔-傾情為你奉上專心-專注-專業(yè)/*預(yù)處理命令*/#include /包含單片機(jī)寄存器的頭文件#include /包含_nop_()函數(shù)定義的頭文件#define uchar unsigned char#define uint unsigned int#define delayNOP(); _nop_();_nop_();_nop_();_nop_();sbit IRIN=P32; /紅外接收器數(shù)據(jù)線sbit LCD_RS = P07; sbit LCD_RW = P06;sbit LCD_EN =

2、P05;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 = P10;sbit M2 = P11;sbit M3 = P12;sbit M4 = P13;sbit EN12 = P14;sbit EN34 = P15;uchar IRCOM7;uchar m,n;uchar t=2;uchar g;uch

3、ar code digit=;uint v;uchar count;bit flag;void delayxms(uchar t);void delay(unsigned char x) ;void delay1(int ms);void motor();void lcd_display();/*檢查LCD忙狀態(tài)lcd_busy為1時，忙，等待。lcd-busy為0時,閑，可寫指令與數(shù)據(jù)*/bit lcd_busy() bit result;LCD_RS = 0;LCD_RW = 1;LCD_EN = 1;delayNOP();result = (bit)(P0&0 x80);LCD_EN =

4、 0;return(result); /*寫指令數(shù)據(jù)到LCDRS=L，RW=L，E=高脈沖，D0-D7=指令碼*/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; /*寫顯示數(shù)據(jù)到LCDRS=H，RW=L，E=高脈沖，D0-D7=數(shù)據(jù)*/void lcd_wdat(uchar dat) while(lcd_busy(); LCD_RS =

5、 1; LCD_RW = 0; LCD_EN = 0; P2 = dat; delayNOP(); LCD_EN = 1; delayNOP(); LCD_EN = 0; /*LCD初始化設(shè)定*/void lcd_init() delay1(15); lcd_wcmd(0 x38); /16*2顯示，5*7點(diǎn)陣，8位數(shù)據(jù) delay1(5); lcd_wcmd(0 x38); delay1(5); lcd_wcmd(0 x38); delay1(5); lcd_wcmd(0 x0c); /顯示開，關(guān)光標(biāo) delay1(5); lcd_wcmd(0 x06); /移動光標(biāo) delay1(5);

6、lcd_wcmd(0 x01); /清除LCD的顯示內(nèi)容 delay1(5);/*設(shè)定顯示位置*/void lcd_pos(uchar pos) lcd_wcmd(pos | 0 x80); /數(shù)據(jù)指針=80+地址變量/*x顯示速度提示符*/void display_sym(void)lcd_pos(0 x00);lcd_wdat(v);lcd_wdat(=);/*顯示速度數(shù)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; /取個位lcd_po

7、s(0 x02);lcd_wdat(digiti);lcd_wdat(digitj);lcd_wdat(digitk);lcd_wdat(digitl);/*顯示速度單位*/void display_unit(void)lcd_pos(0 x06);lcd_wdat(r);lcd_wdat(/);lcd_wdat(m);lcd_wdat(i);lcd_wdat(n);/*主函數(shù)*/*/void main()uint a; IRIN=1; /I/O口初始化IE=0 x83; /允許總中斷中斷,使能 INT0 外部中斷TCON=TCON|0 x01; /觸發(fā)方式為脈沖負(fù)邊沿觸發(fā)lcd_init()

8、;TMOD=0 x51; TH0=(65536-50000)/256; TL0=(65536-50000)/256; TR0=1; count=0; display_sym(); display_vel(0); display_unit();lcd_pos(0 x40);g=0;while(beging!=0) lcd_wdat(beging); 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)

9、; motor(); /*/void IR_IN() interrupt 0 using 0unsigned char j,k,N=0;unsigned char q=0;EX0 = 0; delay(15);if (IRIN=1) EX0 =1;return; /確認(rèn)IR信號出現(xiàn)while (!IRIN) /等IR變?yōu)楦唠娖?，跳過9ms的前導(dǎo)低電平信號。delay(1);for (j=0;j4;j+) /收集四組數(shù)據(jù) for (k=0;k=30) EX0=1;return; /0.14ms計數(shù)過長自動離開。 /高電平計數(shù)完畢 IRCOMj=IRCOMj 1; /數(shù)據(jù)最高位補(bǔ)“0”if(N=8

10、)IRCOMj = IRCOMj | 0 x80; /數(shù)據(jù)最高位補(bǔ)“1” N=0;if(IRCOM2!=IRCOM3) EX0=1;return; IRCOM5=IRCOM2 & 0 x0F; /取鍵碼的低四位IRCOM6=IRCOM2 4; /右移4次，高四位變?yōu)榈退奈籭f(IRCOM59) IRCOM5=IRCOM5+0 x37;elseIRCOM5=IRCOM5+0 x30;if(IRCOM69) IRCOM6=IRCOM6+0 x37;elseIRCOM6=IRCOM6+0 x30;q= (IRCOM6&0 x0f)=5)t=4;break; /串口發(fā)送01case 0 x18:m=2

11、;n=2;break; /串口發(fā)送02case 0 x55:m=3;t-;if(t=0)t=0;break; /串口發(fā)送03case 0 x08:m=4;n=4;break; /串口發(fā)送04case 0 x13:m=5;n=5;break; /串口發(fā)送05case 0 x51:m=6;n=6;break; /串口發(fā)送06case 0 x42:m=7;break; /串口發(fā)送07case 0 x52:m=8;n=8;break; /串口發(fā)送08case 0 x41:m=9;break; /串口發(fā)送09default :break; lcd_display(); EX0 = 1; /*延時函數(shù)*/

12、void delay(unsigned char x) /x*0.14MSunsigned char i;while(x-)for (i = 0; i13; i+) void lcd_display() g=0;switch(m) case 1: lcd_init(); lcd_pos(0 x40); while(cdis1g!=0)/減速 lcd_wdat(cdis1g); g+; break;case 2: lcd_init(); lcd_pos(0 x40); /前進(jìn) while(cdis2g!=0) lcd_wdat(cdis2g); g+; break; case 3: lcd_in

13、it(); lcd_pos(0 x40); /加速 while(cdis3g!=0) lcd_wdat(cdis3g); g+; break;case 4: lcd_init(); lcd_pos(0 x40); /左轉(zhuǎn) while(cdis4g!=0) lcd_wdat(cdis4g); g+; break;case 5: lcd_init(); lcd_pos(0 x40); /停車 while(cdis5g!=0) lcd_wdat(cdis5g); g+; break;case 6: lcd_init(); lcd_pos(0 x40); /右轉(zhuǎn) while(cdis6g!=0) lc

14、d_wdat(cdis6g); g+; break;case 8: lcd_init(); lcd_pos(0 x40); /倒車while(cdis8g!=0) lcd_wdat(cdis8g); g+;break;default :break; void motor() EN12=1; EN34=1; switch(n) case 2: /前進(jìn) M1=1; M2=0; M3=1; M4=0; /* delayxms(5-t); M1=0;M3=0; elayxms(t); */ break; case 4: /左轉(zhuǎn) M1=0; M2=0; M3=1; M4=0; /*delayxms(5-

15、t); M1=0; M3=0; layxms(t+1); */ break; case 6: /右轉(zhuǎn) M1=1; M2=0; M3=0; M4=0; /*delayxms(5-t); M1=0; M3=0; layxms(t+1); */ break; case 8:/后退 M1=0; M2=1; M3=0; M4=1; /*delayxms(5-t); M2=0; M4=0; layxms(t); */ break; case 5: EN12=0; EN34=0; break;default :break; /*函數(shù)功能：定時器T0的中斷服務(wù)函數(shù)*/void Time0(void ) interrupt 1 using 1 /定時器T0的中斷編號為1，使用第1組工作寄存器 count+; /T0每中斷1次，count加1 if(co