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/*************************************************************************/
#include "reg52.h"
#define uchar unsigned char
#define uint unsigned int
#define ulong unsigned long
#define LCD_data P0
sbit LCD_RS=P2^6;//................................
sbit LCD_RW=P2^5;
sbit LCD_EN=P2^4;
sbit LCD_PSB=P2^7;
sbit Trig = P3^3;//................................
sbit Echo = P3^2;
sbit Beep=P3^4;//...................................蜂鳴器端口
sbit huoyan=P3^5;//.................................光照傳感器端口
sbit Fan=P3^6;//....................................風(fēng)扇端口
sbit PWM1= P1^1;//..................................
sbit Photosensitive_resistor = P3^7;//..............
sbit led = P1^0;
sbit motor_control_1 = P1^2;
sbit motor_control_2 = P1^3;
sbit motor_control_4 = P1^4;
sbit motor_control_3 = P1^5;
sbit PWM2 = P1^6;
sfr T2MOD = 0xC9;//.................................定時(shí)器2模式控制寄存器
unsigned char ucBluetoothData = 230;//..............
unsigned char ucLock = 0;//.........................
unsigned int uiPWMCnt1 = 0;
unsigned int uiPWM1 = 230;
unsigned int uiPWMCnt2 = 0;
unsigned int uiPWM2 = 230;
unsigned char ucTempPWM;//.......................
bit flag;
uchar outcomeL , outcomeH;
uint num,a;
uint distance_data;
uchar code dis1[] = {" 功能小車(chē) "};
uchar code dis2[] = {" 誤差范圍4mm -4m"};
uchar code dis3[] = {" 距離:"};
uchar code dis4[] = {" 單位:mm"};
uchar code dis5[] = {" 危險(xiǎn)！！"};
uchar code dis6[] = {" 安全"};
void initial_myself();
void initial_peripheral();//........................
void T0_time();
void usart_service(void);//.........................通用同步異步收發(fā)機(jī)服務(wù)
void delay_long(unsigned int uiDelayLong);
void go_forward(void);//............................前進(jìn)
void fall_back(void);//.............................后退
void turn_left(void);//.............................左轉(zhuǎn)
void turn_right(void);//............................右轉(zhuǎn)
void stop();//......................................剎車(chē)
void lcd_init();//..................................
void fire_alarm();//................................
void display();//...................................
void Ultrasonic_ranging ();//.......................
void Photosensitive ();//...........................
void main()
{
TMOD = 0x01;
IT0 = 0;
EX0 = 0;
lcd_init() ;
Trig = 0;
initial_myself();
delay_long(100);
initial_peripheral();
while(1)
{
fire_alarm();
Photosensitive ();
display();
usart_service();
Ultrasonic_ranging () ;
}
}
void delay(uint z)//...............................延時(shí)函數(shù)
{
uchar i, j ;
for( i = z ; i > 0 ; i-- )
for( j = 110 ; j > 0 ; j-- );
}
void fire_alarm ()//................................火災(zāi)報(bào)警處理系統(tǒng)
{
if( huoyan == 0)
{
Beep = 0;
Fan = 0;
}
if( huoyan == 1 )
{
Beep = 1;
Fan = 1;
}
}
void Photosensitive ()
{
if(Photosensitive_resistor == 0)
{
led = 1;
}
if(Photosensitive_resistor == 1)
{
led = 0;
}
}
void write_cmd(uchar cmd)
{
LCD_RS = 0;
LCD_RW = 0;
LCD_EN = 0;
P0 = cmd;
delay(1);
LCD_EN = 1;
delay(1);
LCD_EN = 0;
}
void write_dat(uchar dat)
{
LCD_RS = 1;
LCD_RW = 0;
LCD_EN = 0;
P0 = dat;
delay(1);
LCD_EN = 1;
delay(1);
LCD_EN = 0;
}
void lcd_init()//
{
LCD_PSB = 1;
write_cmd(0x30);
delay(1);
write_cmd(0x30);
delay(1);
write_cmd(0x0c);
delay(1);
write_cmd(0x01);
delay(1);
}
void usart_service()
{
switch(ucBluetoothData)
{
case 0x41://........................前進(jìn)
ucBluetoothData = 0x02;//避免一直觸發(fā)
go_forward();
ucLock = 1;
uiPWM1 = uiPWM2 = ucTempPWM;
ucLock = 0;
break;
case 0x43://........................左轉(zhuǎn)
ucBluetoothData = 0x02;
turn_left();
ucLock = 1;
uiPWM2 = ucTempPWM / 2;
uiPWM1 = ucTempPWM;
ucLock = 0;
break;
case 0x47://........................右轉(zhuǎn)
ucBluetoothData = 0x02;
turn_right();
ucLock = 1;
uiPWM2 = ucTempPWM;
uiPWM1 = ucTempPWM / 2;
ucLock = 0;
break;
case 0x45://......................后退
ucBluetoothData = 0x02;
fall_back();
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