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標題: 智能車超聲波避障礙程序（LCD1602顯示） [打印本頁]

作者: lfq940528 時間: 2018-3-25 15:12
標題: 智能車超聲波避障礙程序（LCD1602顯示）
#include <at89x51.h>
#include <intrins.h>
#include "LCD1602display.h"
#define  TX  P2_1
#define  RX  P2_0
sbit DU = P2^6;
sbit WE = P2^7;

/*****°′ÕÕÔ-í¼½óÏß¶¨òå******/
sbit L293D_IN1=P1^2;
sbit L293D_IN2=P1^3;
sbit L293D_IN3=P1^6;
sbit L293D_IN4=P1^7;
sbit L293D_EN1=P1^4;
sbit L293D_EN2=P1^5;

void Delay400Ms(void);//Ñóê±400oáÃëoˉêy

unsigned char code Range[] ="==Range Finder==";//LCD1602ÏÔê¾¸ñê½
unsigned char code ASCII[13] = "0123456789.-M";
unsigned char code table[]="Distance:000.0cm";
unsigned char code table1[]="!!! Out of range";

unsigned char disbuff[4]={0,0,0,0};//óÃóú·Ö±e′æ·Å¾ààëμÄÖμ0.1mm¡￠mm¡￠cmoímμÄÖμ

void Count(void);//¾ààë¼ÆËãoˉêy

unsigned int  time=0;//óÃóú′æ·Å¶¨ê±Æ÷ê±¼äÖμ
unsigned long S=0;//óÃóú′æ·Å¾ààëμÄÖμ
bit  flag =0; //á¿3ìòç3ö±êÖ¾Î»
bit  turn_right_flag;

//=========================================================================================================================
void Forward(unsigned char Speed_Right,unsigned char Speed_Left)//    Ç°½ø
{

   L293D_IN1=0;
   L293D_IN2=1;
   L293D_IN3=1;
   L293D_IN4=0;
//    PWM_Set(255-Speed_Right,255-Speed_Left);
}
void Stop(void) //é23μ
{

   L293D_IN1=0;
   L293D_IN2=0;
   L293D_IN3=0;
   L293D_IN4=0;
//    PWM_Set(0,0);
}
void Turn_Right(unsigned char Speed_Right,unsigned char Speed_Left)    //oó
{
L293D_IN1=1;
L293D_IN2=0;
L293D_IN3=0;
L293D_IN4=0;
// PWM_Set(255-Speed_Right,255-Speed_Left);
}
//=========================================================================================================================
/********¾ààë¼ÆËã3ìDò***************/
void Conut(void)
{
   time=TH1*256+TL1;
   TH1=0;
   TL1=0;

   //′Ëê±timeμÄê±¼äμ￥Î»¾ö¶¨óú¾§ÕñμÄËù¶è￡¬ía½ó¾§ÕñÎa11.0592MHZê±￡¬
            //timeμÄÖμÎa0.54us*time￡¬μ￥Î»ÎaÎ￠Ãë
//ÄÇÃ′1uséù2¨Äü×ß¶àÔ¶μÄ¾ààëÄØ￡¿1s=1000ms=1000000us
// 340/1000000=0.00034Ã×
//0.00034Ã×/1000=0.34oáÃ×  ò2¾íêÇ1usÄü×ß0.34oáÃ×
//μ«êÇ￡¬ÎòÃÇÏÖÔú¼ÆËãμÄêÇ′ó3¬éù2¨·￠éäμ½·′éä½óêÕμÄË«Â·3ì￡¬
//ËùòÔÎòÃÇ½«¼ÆËãμÄ½á1û3yòÔ22ÅêÇêμ¼êμÄÂ·3ì

S=time*2;//ÏèËã3öò»12μÄê±¼äêÇ¶àéùÎ￠Ãë¡￡
   S=S*0.17;//′Ëê±¼ÆËãμ½μÄ½á1ûÎaoáÃ×￡¬2￠ÇòêÇ¾«è·μ½oáÃ×μÄoóá½Î»áË￡¬óDá½¸öD¡êyμã
   if(S<=300)    //
   {
      if(turn_right_flag!=1)
{
      Stop();
      Delay1ms(5);//·￠ÏÖD¡3μ×Ô¶ˉ¸′Î»μÄê±oò￡¬¿éòÔéÔÎ￠Ñó3¤ò»μãÕa¸öÑóê±￡¬¼õéùμç»ú·′ÏòμçÑ1¶ÔμçÂ·°åμÄ3å»÷¡￡
}
turn_right_flag=1;
P2_3=0;
Delay1ms(50);
P2_3=1;
      Turn_Right(120,120); //D¡óúéè¶¨¾ààëê±μç»úoóíË×aíä
   }
   else
   {
      turn_right_flag=0;
      Forward(0,0);    //Ç°½ø￡¨′óóú20-30CMÇ°½ø￡©
   }
   //=======================================
   if((S>=5000)||flag==1) //3¬3ö2aá¿·¶Î§
   {
   flag=0;
   DisplayListChar(0, 1, table1);
   }
   else
   {
disbuff[0]=S%10;
   disbuff[1]=S/10%10;
   disbuff[2]=S/100%10;
   disbuff[3]=S/1000;
   DisplayListChar(0, 1, table);
   DisplayOneChar(9, 1, ASCII[disbuff[3]]);
   DisplayOneChar(10, 1, ASCII[disbuff[2]]);
   DisplayOneChar(11, 1, ASCII[disbuff[1]]);
DisplayOneChar(12, 1, ASCII[10]);
   DisplayOneChar(13, 1, ASCII[disbuff[0]]);
   }
}

/********************************************************/
   void zd0() interrupt 3    //T0ÖD¶ÏóÃà′¼ÆêyÆ÷òç3ö,3¬1y2a¾à·¶Î§
  {
flag=1;    //ÖD¶Ïòç3ö±êÖ¾
RX=0;
  }

/********3¬éù2¨¸ßμçÆ½Âö3å¿í¶è¼ÆËã3ìDò***************/
void Timer_Count(void)
{
   TR1=1;       //¿aÆô¼Æêy
      while(RX); //μ±RXÎa1¼Æêy2￠μè′y
      TR1=0; //1Ø±Õ¼Æêy
      Conut(); //¼ÆËã

}
/********************************************************/
void  StartModule()          //Æô¶ˉÄ￡¿é
  {
   TX=1;                      //Æô¶ˉò»′ÎÄ￡¿é
   Delay10us(2);
   TX=0;
  }
/********************************************************/

/*************Ö÷3ìDò********************/
void main(void)
{
unsigned char i;
unsigned int a;
Delay1ms(400); //Æô¶ˉμè′y￡¬μèLCM½2èë1¤×÷×′ì¬
LCMInit(); //LCM3õê¼»ˉ
Delay1ms(5);//Ñóê±Æ¬¿ì

DisplayListChar(0, 0, Range);
DisplayListChar(0, 1, table);
TMOD=TMOD|0x10;//éèT0Îa·½ê½1￡¬GATE=1￡»
EA=1;    //¿aÆô×üÖD¶Ï
TH1=0;
TL1=0;
ET1=1;          //ÔêDíT0ÖD¶Ï
turn_right_flag=0;
while(1)
   {
RX=1;
      StartModule();    //Æô¶ˉÄ￡¿é
      for(a=951;a>0;a--)
      {

         if(RX==1)
   {
         Timer_Count();    //3¬éù2¨¸ßμçÆ½Âö3å¿í¶è¼ÆËãoˉêy
   }
   }
   }
}

作者: wd18420303 時間: 2018-4-20 15:14
能避什么類型的障礙呢

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