基于89C51单片机的智能小车——07.语音识别切换寻迹避障跟随并Oled显示_智能避障小车怎么在原来的基础上在oled 屏幕上添加并调用统计障碍物色块的数

作者：从前慢现在也慢 | 2024-05-05 16:59:08

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智能避障小车怎么在原来的基础上在oled 屏幕上添加并调用统计障碍物色块的数

语音模块配置

在这里插入图片描述
模块配置网站：http://www.smartpi.cn/#/
1.点击创建产品 -> 其他 -> 其他产品

2.选择场景为 纯离线方案 ，选择模组为 SU-03T。

3.填写产品信息

4.根据需要进行Pin 脚配置，唤醒词自定义，离线命令词与应答语自定义，发音人配置，其他配置，然后点击生成新版本即可。
5.点击产品列表 -> 选择刚刚生成的产品点击查看详情 -> 语音SDK -> 点击生成SDK
在这里插入图片描述
6.生成SDK大概10~30分钟，生成完成后会发手机短信提醒你，然后点击下载SDK，注意下载到没有中文路径的位置，不然烧录时候会出错。

SU03-03T固件烧录

1.接线方式
B7 引脚接串口 RXD
B6 引脚接串口 TXD
GND 接串口 GND
VCC 接串口 VCC
在这里插入图片描述
2.选择需要升级的固件 bin 文件
在目录uni_hb_m_solution\image_demo\Hummingbird-M-Update-Tool下默认选择UniOneUpdateTool.exe 程序同目录下的 uni_app_release_update.bin 文件，如固件放在其他位置，单击选择按钮，指定选择到对应 bin 文件即可。
在这里插入图片描述
3. 点击烧录按钮，如图所示，提示栏显示等待设备。（注意：此时设备不要上电）

4.蜂鸟 M 板上电开机，正常情况下就会自动开始下载了。

5.烧录完成，设备将自动重启进入正常开机状

代码编写实现

main.c

#include "reg52.h"
#include "hc04.h"
#include "delay.h"
#include "sg90.h"
#include "Oled.h"
#include "motor.h"
 
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2
 
#define BZ 1
#define XJ 2
#define GS 3
 
 
sbit A25 = P1^5;
sbit A26 = P1^6;
sbit A27 = P1^7;
 
sbit leftSensorX = P2^7;
sbit rightSensorX = P2^6;
 
sbit leftSensorG = P2^5;
sbit rightSensorG = P2^4;
 
char dir;
     
double disMiddle;
double disLeft;
double disRight;
 
void xunjiMode()
{
        if(leftSensorX == 0 && rightSensorX == 0){
            goForward();
        }
        if(leftSensorX == 1 && rightSensorX == 0){
            goLeft();
        }
         
        if(leftSensorX == 0 && rightSensorX == 1){
            goRight();
        }
         
        if(leftSensorX == 1 && rightSensorX == 1){
            //停
            stop();
        }
}
 
void gensuiMode()
{
        if(leftSensorG == 0 && rightSensorG == 0){
            goForward();
        }
        if(leftSensorG == 1 && rightSensorG == 0){
            goRight();
        }
         
        if(leftSensorG == 0 && rightSensorG == 1){
             
            goLeft();
        }
         
        if(leftSensorG == 1 && rightSensorG == 1){
            //停
            stop();
        }
}
 
void bizhangMode()
{
    if(dir != MIDDLE){
            sgMiddle();
            dir = MIDDLE;
            Delay300ms();
        }
        disMiddle = get_distance();
         
        if(disMiddle > 35){
            //前进
            goForward();
        }else if(disMiddle < 10){
            goBack();
             
        }else
        {
            //停止
            stop();
            //测左边距离
            sgLeft();
            Delay300ms();
            disLeft = get_distance();
             
            sgMiddle();
            Delay300ms();
             
            sgRight();
            dir = RIGHT;
            Delay300ms();
            disRight = get_distance();
             
            if(disLeft < disRight){
                goRight();
                Delay150ms();
                stop();
            }
            if(disRight < disLeft){
                goLeft();
                Delay150ms();
                stop();
            }
        }
 
}
 
void main()
{
 
    int mark = 0;
     
    Time0Init();
    Time1Init();
    //舵机的初始位置
 
    sgMiddle();
    Delay300ms();
    Delay300ms();
    dir = MIDDLE;
     
    Oled_Init();
    Oled_Clear();
    Oled_Show_Str(2,2,"-----Ready----");
     
    while(1){
        //满足寻迹模式的条件
        if(A25 == 0 && A26 == 1 && A27 == 1){
            if(mark != XJ){
                Oled_Clear();
                Oled_Show_Str(2,2,"-----XunJi----");
            }
            mark = XJ;
            xunjiMode();
        }
        //满足跟随模式的条件
        if(A25 == 1 && A26 == 0 && A27 == 1){
            if(mark != GS){
                Oled_Clear();
                Oled_Show_Str(2,2,"-----GenSui----");
            }
            mark = GS;
            gensuiMode();
        }
        //满足避障模式的条件
        if(A25 == 1 && A26 == 1 && A27 == 0){
            if(mark != BZ){
                Oled_Clear();
                Oled_Show_Str(2,2,"-----BiZhang----");
            }
            mark = BZ;
            bizhangMode();
        }
     
    }
}
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sg90.c

#include "reg52.h"
#include "delay.h"
 
sbit sg90_con = P1^1;
 
int jd;
int cnt = 0;
 
void Time0Init()
{
    //1. 配置定时器0工作模式位16位计时
    TMOD &= 0xF0;       //设置定时器模式
    TMOD |= 0x01;
    //2. 给初值，定一个0.5出来
    TL0=0x33;
    TH0=0xFE;
    //3. 开始计时
    TR0 = 1;
    TF0 = 0;
    //4. 打开定时器0中断
    ET0 = 1;
    //5. 打开总中断EA
    EA = 1;
}
 
void sgMiddle()
{
    //中间位置
    jd = 3; //90度 1.5ms高电平
    cnt = 0;
}
 
void sgLeft()
{
    //左边位置
    jd = 5; //135度 1.5ms高电平
    cnt = 0;
}
 
void sgRight()
{
    //右边位置
    jd = 1; //0度
    cnt = 0;
}
 
 
void Time0Handler() interrupt 1
{
    cnt++;  //统计爆表的次数. cnt=1的时候，报表了1
    //重新给初值
    TL0=0x33;
    TH0=0xFE;
     
    //控制PWM波
    if(cnt < jd){
        sg90_con = 1;
    }else{
        sg90_con = 0;
    }
     
    if(cnt == 40){//爆表40次，经过了20ms
        cnt = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s
        sg90_con = 1;
    }    
}
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Oled.c

#include "reg52.h"
#include "intrins.h"
#include "Oledfont.h"
 
 
sbit scl = P1^2;
sbit sda = P1^3;
 
void IIC_Start()
{
    scl = 0;
    sda = 1;
    scl = 1;
    _nop_();
    sda = 0;
    _nop_();
}
 
void IIC_Stop()
{
    scl = 0;
    sda = 0;
    scl = 1;
    _nop_();
    sda = 1;
    _nop_();
}
 
char IIC_ACK()
{
    char flag;
    sda = 1;//就在时钟脉冲9期间释放数据线
    _nop_();
    scl = 1;
    _nop_();
    flag = sda;
    _nop_();
    scl = 0;
    _nop_();
     
    return flag;
}
 
void IIC_Send_Byte(char dataSend)
{
    int i;
     
    for(i = 0;i<8;i++){
        scl = 0;//scl拉低，让sda做好数据准备
        sda = dataSend & 0x80;//1000 0000获得dataSend的最高位，给sda
        _nop_();//发送数据建立时间
        scl = 1;//scl拉高开始发送
        _nop_();//数据发送时间
        scl = 0;//发送完毕拉低
        _nop_();//
        dataSend = dataSend << 1;
    }
}
 
void Oled_Write_Cmd(char dataCmd)
{
    //  1. start()
    IIC_Start();
    //      
    //  2. 写入从机地址  b0111 1000 0x78
    IIC_Send_Byte(0x78);
    //  3. ACK
    IIC_ACK();
    //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
    IIC_Send_Byte(0x00);
    //  5. ACK
    IIC_ACK();
    //6. 写入指令/数据
    IIC_Send_Byte(dataCmd);
    //7. ACK
    IIC_ACK();
    //8. STOP
    IIC_Stop();
}
 
void Oled_Write_Data(char dataData)
{
    //  1. start()
    IIC_Start();
    //      
    //  2. 写入从机地址  b0111 1000 0x78
    IIC_Send_Byte(0x78);
    //  3. ACK
    IIC_ACK();
    //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
    IIC_Send_Byte(0x40);
    //  5. ACK
    IIC_ACK();
    ///6. 写入指令/数据
    IIC_Send_Byte(dataData);
    //7. ACK
    IIC_ACK();
    //8. STOP
    IIC_Stop();
}
 
 
void Oled_Init(void){
    Oled_Write_Cmd(0xAE);//--display off
    Oled_Write_Cmd(0x00);//---set low column address
    Oled_Write_Cmd(0x10);//---set high column address
    Oled_Write_Cmd(0x40);//--set start line address  
    Oled_Write_Cmd(0xB0);//--set page address
    Oled_Write_Cmd(0x81); // contract control
    Oled_Write_Cmd(0xFF);//--128   
    Oled_Write_Cmd(0xA1);//set segment remap 
    Oled_Write_Cmd(0xA6);//--normal / reverse
    Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)
    Oled_Write_Cmd(0x3F);//--1/32 duty
    Oled_Write_Cmd(0xC8);//Com scan direction
    Oled_Write_Cmd(0xD3);//-set display offset
    Oled_Write_Cmd(0x00);//
     
    Oled_Write_Cmd(0xD5);//set osc division
    Oled_Write_Cmd(0x80);//
     
    Oled_Write_Cmd(0xD8);//set area color mode off
    Oled_Write_Cmd(0x05);//
     
    Oled_Write_Cmd(0xD9);//Set Pre-Charge Period
    Oled_Write_Cmd(0xF1);//
     
    Oled_Write_Cmd(0xDA);//set com pin configuartion
    Oled_Write_Cmd(0x12);//
     
    Oled_Write_Cmd(0xDB);//set Vcomh
    Oled_Write_Cmd(0x30);//
     
    Oled_Write_Cmd(0x8D);//set charge pump enable
    Oled_Write_Cmd(0x14);//
     
    Oled_Write_Cmd(0xAF);//--turn on oled panel     
}
 
void Oled_Clear()
{
    unsigned char i,j; //-128 --- 127
     
    for(i=0;i<8;i++){
        Oled_Write_Cmd(0xB0 + i);//page0--page7
        //每个page从0列
        Oled_Write_Cmd(0x00);
        Oled_Write_Cmd(0x10);
        //0到127列，依次写入0，每写入数据，列地址自动偏移
        for(j = 0;j<128;j++){
            Oled_Write_Data(0);
        }
    }
}
 
void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
    unsigned int  i;
    Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0
    Oled_Write_Cmd(0x00+(col&0x0f));                          //low
    Oled_Write_Cmd(0x10+(col>>4));                            //high  
    for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
        Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
    }
 
    Oled_Write_Cmd(0xb0+(row*2-1));                           //page 1
    Oled_Write_Cmd(0x00+(col&0x0f));                          //low
    Oled_Write_Cmd(0x10+(col>>4));                            //high
    for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
        Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
    }       
}

void Oled_Show_Str(char row,char col,char *str){
    while(*str!=0){
        Oled_Show_Char(row,col,*str);
        str++;
        col += 8;   
    }       
}

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motor.c

#include "reg52.h"
 
sbit RightCon1A = P3^7;
sbit RightCon1B = P3^3;
 
sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;
 
void goForward()
{
    LeftCon1A = 0;
    LeftCon1B = 1;
     
    RightCon1A = 0;
    RightCon1B = 1;
}
 
void goRight()
{
    LeftCon1A = 0;
    LeftCon1B = 1;
     
    RightCon1A = 0;
    RightCon1B = 0;
}
 
 
void goLeft()
{
    LeftCon1A = 0;
    LeftCon1B = 0;
     
    RightCon1A = 0;
    RightCon1B = 1;
}
 
void goBack()
{
    LeftCon1A = 1;
    LeftCon1B = 0;
     
    RightCon1A = 1;
    RightCon1B = 0;
}
 
void stop()
{
    LeftCon1A = 0;
    LeftCon1B = 0;
     
    RightCon1A = 0;
    RightCon1B = 0;
}
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hc04.c

#include "reg52.h"
#include "delay.h"
 
sbit Trig     = P2^3;
sbit Echo     = P2^2;
 
void Time1Init()
{   
    TMOD &= 0x0F;       //设置定时器模式
    TMOD |= 0x10;
    TH1 = 0;
    TL1 = 0;
    //设置定时器0工作模式1，初始值设定0开始数数，不着急启动定时器
}
 
void startHC()
{
    Trig = 0;
    Trig = 1;
    Delay10us();
    Trig = 0;
}
 
double get_distance()
{
        double time;
        //定时器数据清零，以便下一次测距
        TH1 = 0;
        TL1 = 0;
    //1. Trig ，给Trig端口至少10us的高电平
        startHC();
        //2. echo由低电平跳转到高电平，表示开始发送波
        while(Echo == 0);
        //波发出去的那一下，开始启动定时器
        TR1 = 1;
        //3. 由高电平跳转回低电平，表示波回来了
        while(Echo == 1);
        //波回来的那一下，我们开始停止定时器
        TR1 = 0;
        //4. 计算出中间经过多少时间
        time = (TH1 * 256 + TL1)*1.085;//us为单位
        //5. 距离 = 速度 （340m/s）* 时间/2
        return  (time * 0.017);
}
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delay.c

#include "intrins.h"
 
void Delay2000ms()      //@11.0592MHz
{
    unsigned char i, j, k;
 
    i = 15;
    j = 2;
    k = 235;
    do
    {
        do
        {
            while (--k);
        } while (--j);
    } while (--i);
}
 
 
void Delay10us()        //@11.0592MHz
{
    unsigned char i;
 
    i = 2;
    while (--i);
}
 
void Delay300ms()       //@11.0592MHz
{
    unsigned char i, j, k;
 
    _nop_();
    i = 3;
    j = 26;
    k = 223;
    do
    {
        do
        {
            while (--k);
        } while (--j);
    } while (--i);
}
 
 
void Delay150ms()       //@11.0592MHz
{
    unsigned char i, j, k;
 
    i = 2;
    j = 13;
    k = 237;
    do
    {
        do
        {
            while (--k);
        } while (--j);
    } while (--i);
}
 
void Delay450ms()       //@11.0592MHz
{
    unsigned char i, j, k;
 
    _nop_();
    i = 4;
    j = 39;
    k = 209;
    do
    {
        do
        {
            while (--k);
        } while (--j);
    } while (--i);
}
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Oledfont.h

const unsigned char code F8X16[]=     
{
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};
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sg90.h

void Time0Init();
void sgMiddle();
void sgRight();
void sgLeft();
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Oled.h

void Oled_Write_Cmd(char dataCmd);
void Oled_Write_Data(char dataData);
void Oled_Init(void);
void Oled_Clear();
void Oled_Show_Str(char row,char col,char *str);
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motor.h

void goRight();
void goLeft();
void goForward();
void goBack();
void stop();
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hc04.h

double get_distance();
void Time1Init();
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delay.h

void Delay2000ms();     //@11.0592MHz
void Delay10us();       //@11.0592MHz
void Delay150ms();
void Delay450ms();  
void Delay300ms();
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