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51单片机之智能小车（避障、跟随、循迹）_51单片机智能小车

作者：小丑西瓜9 | 2024-05-05 16:57:16

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51单片机智能小车

目录

基本概述

硬件组成

功能

关键字

模块介绍

电机模块L9110S

循迹模块（TCRT5000传感器）

红外避障模块

测速模块 

小车 

移动小车（控制电机转动，使小车前进、后退、左转、右转 ）

遥控小车（ 使用蓝牙模块，通过串口发送信息控制小车移动）

调速小车（利用PWM波对电机进行调速）

循迹小车 （利用循迹模块进行黑白色的检测）

跟随小车（利用红外避障模块完成跟随行为）

避障小车（利用超声波测距完成避障行为）

测速小车，使用OLED屏显示小车速度

语音控制小车，循迹、跟随、避障三种功能切换

 

基本概述

硬件组成

电机模块L9110S、循迹模块、红外避障模块、超声波模块、测速模块、OLED屏、蓝牙模块、4G，模块、语音模块SU-03T

功能

蓝牙控制小车、WiFi控制小车、4G控制小车、小车的避障、跟随、循迹

关键字

单片机中一般都有两块存储区域，ROM和RAM，程序代码存储在ROM中，程序要用的变量存储在RAM中。而“code”的作用就是将其修饰过的变量存储在ROM中而非RAM。 在单片机中，RAM空间都比较小，是比较宝贵的，当存放在RAM中的数据过多时，会导致编译不成功。

  • exturn：使用exturn关键字修饰的全局变量或函数，作用域不再局限本文件，其他文件同样能访问到这些变量或函数，跟static关键字恰恰相反。
  • code：使用code关键字修饰的变量（一般是初始化后，值保持不变的变量）后会被存放到ROM区，从而节省RAM的空间。

模块介绍

电机模块L9110S

aa5cb1e961d8406699bf75655fa90f4b.png

L0110S模块的A、B分别控制着两个电机，如果需要控制四个电机，则需要两个L0110S模块

  • 当B-1A为高电平，B-2A为低电平时，电机反转或正转
  • 当B-1A为低电平，B-2A为高电平时，电机正转反转
  • 当B-1A为低电平，B-2A为低电平时，电机不转
  • 电机的正转和反转与跟电机的接线不同而不同，注意自己调试

循迹模块（TCRT5000传感器）

de5641f570fd4adba541c272a8063677.png

  • 当发射出的红外线没有被反射回来或被反射回来但强度不够大时，DO输出高电平，灯灭。 黑色吸收红外线，DO输出高电平，灯亮
  • 当发射出的红外线被反射回来或被反射回来且强度足够大，DO输出低电平，灯亮。 白色反射红外线，DO输出低电平，灯亮
  • 即黑色输出高电平，灯灭，白色输出低电平，灯亮

红外避障模块

6265a10e74644db7b3c133fa870458c8.png

  • 当发射出的红外线没有被反射回来或被反射回来但强度不够大时，DO输出高电平，灯灭。没有障碍物
  • 当发射出的红外线被反射回来，DO输出低电平，灯亮。有障碍物
  • 即有障碍物输出低电平，灯亮，没有障碍物输出高电平，灯灭

测速模块 

0877a6d59b6b4a61a22d38b3c0c7b352.png

  • 发射的红外线被物体遮挡时，输出高电平，发射的红外线没被物体遮挡时，输出低电平
  • 有物体高电平，没物体低电平
  • 当搭配小车测速盘，会形成下降沿（有遮挡高电平，没遮挡低电平）

小车 

移动小车（控制电机转动，使小车前进、后退、左转、右转 ）

  1. #include "reg52.h"
  2. #include <intrins.h>
  3.  
  4. sbit left_con1A = P1^1;
  5. sbit left_con2A = P1^2;
  6. sbit right_con1A = P1^3;
  7. sbit right_con2A = P1^4;
  8.  
  9. void Delay2000ms()		//@11.0592MHz
  10. {
  11. 	unsigned char i, j, k;
  12.  
  13. 	_nop_();
  14. 	i = 15;
  15. 	j = 2;
  16. 	k = 235;
  17. 	do
  18. 	{
  19. 		do
  20. 		{
  21. 			while (--k);
  22. 		} while (--j);
  23. 	} while (--i);
  24. }
  25.  
  26. //两个电机反转，前进
  27. void goForward()
  28. {
  29. 	left_con1A = 1;
  30. 	left_con2A = 0;
  31. 	
  32. 	right_con1A = 1;	
  33. 	right_con2A = 0;
  34. }
  35.  
  36. //两个电机正转，后退
  37. void goBack()
  38. {
  39. 	left_con1A = 0;
  40. 	left_con2A = 1;
  41. 	
  42. 	right_con1A = 0;	
  43. 	right_con2A = 1;
  44. }
  45.  
  46. //两个电机不转，停止
  47. void goStop()
  48. {
  49. 	left_con1A = 0;
  50. 	left_con2A = 0;
  51. 	
  52. 	right_con1A = 0;	
  53. 	right_con2A = 0;
  54. }
  55.  
  56. //左电机不转，右电机反转，左转
  57. void goLeft()
  58. {
  59. 	left_con1A = 0;
  60. 	left_con2A = 0;
  61. 	
  62. 	right_con1A = 1;	
  63. 	right_con2A = 0;
  64. }
  65.  
  66. //左电机反转，右电机不转，右转
  67. void goRight()
  68. {
  69. 	left_con1A = 1;
  70. 	left_con2A = 0;
  71.  
  72. 	right_con1A = 0;	
  73. 	right_con2A = 0;
  74. }
  75.  
  76. void main()
  77. {
  78. 	while(1){
  79. 		goForward();
  80. 		Delay2000ms();
  81. 		goBack();
  82. 		Delay2000ms();
  83. 		goLeft();
  84. 		Delay2000ms();
  85. 		goRight();
  86. 		Delay2000ms();
  87. 		goStop();
  88. 		Delay2000ms();
  89. 	}
  90. }

遥控小车（ 使用蓝牙模块，通过串口发送信息控制小车移动）

  1. #include "reg52.h"
  2. #include <intrins.h>
  3. #include <string.h>
  4.  
  5. sfr AUXR = 0x8E;
  6.  
  7. sbit left_con1A = P1^1;
  8. sbit left_con2A = P1^2;
  9. sbit right_con1A = P1^3;
  10. sbit right_con2A = P1^4;
  11. sbit led1 = P3^7;
  12. char mybuf[24] ;
  13.  
  14. void Delay1000ms()		//@11.0592MHz
  15. {
  16. 	unsigned char i, j, k;
  17.  
  18. 	_nop_();
  19. 	i = 8;
  20. 	j = 1;
  21. 	k = 243;
  22. 	do
  23. 	{
  24. 		do
  25. 		{
  26. 			while (--k);
  27. 		} while (--j);
  28. 	} while (--i);
  29. }
  30.  
  31. void uartInit()
  32. {
  33. 	AUXR = 0x01;
  34. 	PCON &= 0x7F;  //配置波特率正常
  35. 	SCON = 0x50;  //配置串口选择工作方式1,允许串口接收数据
  36. 	
  37. 	//配置定时器1为8位自动重装模式
  38. 	TMOD &= 0x0F;
  39. 	TMOD |= 0x20;
  40. 	
  41. 	//给定时器1,9600波特率初值
  42. 	TH1 = 0xFD;  //定时器1初值
  43. 	TL1 = 0xFD;  //定时器1重装值
  44.  
  45. 	ET1 = 0;  //不允许定时器1产生中断
  46. 	TR1 = 1;  //开启定时器1
  47.  
  48. 	EA = 1;  //开启总中断
  49. 	ES = 1;  //开启串口中断
  50.  
  51. }
  52.  
  53. void sendByte(char mydata)
  54. {
  55. 	SBUF = mydata;  //向串口发送一帧信息
  56. 	while(!TI);  //等待硬件置位
  57. 	TI = 0;  //TI软件清0 
  58. }
  59.  
  60. void sendString(char *str)
  61. {
  62. 	while(*str != '\0'){
  63. 		sendByte(*str);
  64. 		str++;
  65. 	}
  66. }
  67.  
  68. //两个电机反转，前进
  69. void goForward()
  70. {
  71. 	left_con1A = 1;
  72. 	left_con2A = 0;
  73. 	
  74. 	right_con1A = 1;	
  75. 	right_con2A = 0;
  76. }
  77.  
  78. //两个电机正转，后退
  79. void goBack()
  80. {
  81. 	left_con1A = 0;
  82. 	left_con2A = 1;
  83. 	
  84. 	right_con1A = 0;	
  85. 	right_con2A = 1;
  86. }
  87.  
  88. //两个电机不转，停止
  89. void goStop()
  90. {
  91. 	left_con1A = 0;
  92. 	left_con2A = 0;
  93. 	
  94. 	right_con1A = 0;	
  95. 	right_con2A = 0;
  96. }
  97.  
  98. //左电机不转，右电机反转，左转
  99. void goLeft()
  100. {
  101. 	left_con1A = 0;
  102. 	left_con2A = 0;
  103. 	
  104. 	right_con1A = 1;	
  105. 	right_con2A = 0;
  106. }
  107.  
  108. //左电机反转，右电机不转，右转
  109. void goRight()
  110. {
  111. 	left_con1A = 1;
  112. 	left_con2A = 0;
  113.  
  114. 	right_con1A = 0;	
  115. 	right_con2A = 0;
  116. }
  117.  
  118. void main()
  119. {
  120. 	uartInit();
  121. 	while(1){
  122. 		sendString("jiangxiaoya\r\n");  //发送心跳包，确保串口通信没有中断
  123. 		Delay1000ms();
  124. 	}
  125. }
  126.  
  127.  
  128. void myUart() interrupt 4
  129. {
  130. 	static int i = 0;
  131. 	char tmp;
  132.  
  133. 	//接收数据后，RI硬件置位产生的中断
  134. 	if(RI){
  135. 		RI = 0;  //RI软件清0
  136. 		//获取从pc端接收到的数据
  137. 		tmp = SBUF;
  138.  
  139. 		if(tmp == 'f' || tmp == 'b' || tmp == 'l' || tmp == 'r' || tmp == 's'){
  140. 			i = 0;
  141. 		}
  142. 		mybuf[i] = tmp;
  143. 		i++;
  144.  
  145. 		//forward
  146. 		if(mybuf[0] == 'f' && mybuf[1] == 'o'){
  147. 			goForward();
  148. 			memset(mybuf,'\0',24);
  149. 		}
  150.  
  151. 		//forward
  152. 		if(mybuf[0] == 'b' && mybuf[1] == 'a'){
  153. 			goBack();
  154. 			memset(mybuf,'\0',24);
  155. 		}
  156.  
  157. 		//left
  158. 		if(mybuf[0] == 'l' && mybuf[1] == 'e'){
  159. 			goLeft();
  160. 			memset(mybuf,'\0',24);
  161. 		}
  162. 		//right
  163. 		if(mybuf[0] == 'r' && mybuf[1] == 'i'){
  164. 			goRight();
  165. 			memset(mybuf,'\0',24);
  166. 		}
  167.  
  168. 		//stop
  169. 		if(mybuf[0] == 's' && mybuf[1] == 't'){
  170. 			goStop();
  171. 			memset(mybuf,'\0',24);
  172. 		}
  173.  
  174. 		if(i == 24){
  175. 			i = 0;
  176. 		}
  177.  
  178. 	}
  179.  
  180. 	//发送数据后，TI硬件置位产生的中断
  181. 	if(TI);  
  182. }

调速小车（利用PWM波对电机进行调速）

  • 利用定时器0软件模拟PWM波控制小车左轮速度，定时器1软件模拟PWM波控制小车右轮速度，通过控制轮子的速度来达到前进、停止、左转、右转
  • 在20ms的过程中，部分时间让电机正转，剩下时间让电机停止不动就能改变电机获得的功率，从而改变电机速度。
  1. #include "reg52.h"
  2. #include <intrins.h>
  3. #include <string.h>
  4.  
  5. sfr AUXR = 0x8E;
  6.  
  7. sbit left_con1A = P1^1;
  8. sbit left_con2A = P1^2;
  9. sbit right_con1A = P1^3;
  10. sbit right_con2A = P1^4;
  11. sbit led1 = P3^7;
  12.  
  13. char mybuf[24] ;
  14. char leftSpeed;
  15. char rightSpeed;
  16. int cntLeft = 0;
  17. int cntRight = 0;
  18.  
  19. void Delay1000ms()		//@11.0592MHz
  20. {
  21. 	unsigned char i, j, k;
  22.  
  23. 	_nop_();
  24. 	i = 8;
  25. 	j = 1;
  26. 	k = 243;
  27. 	do
  28. 	{
  29. 		do
  30. 		{
  31. 			while (--k);
  32. 		} while (--j);
  33. 	} while (--i);
  34. }
  35.  
  36. //左电机反转
  37. void goLeftForward()
  38. {
  39. 	left_con1A = 1;
  40. 	left_con2A = 0;
  41. }
  42.  
  43. //左电机不转
  44. void goLeftStop()
  45. {
  46. 	left_con1A = 0;
  47. 	left_con2A = 0;
  48. }
  49.  
  50. //右电机反转
  51. void goRightForward()
  52. {
  53. 	right_con1A = 1;	
  54. 	right_con2A = 0;
  55. }
  56.  
  57. //右电机不转
  58. void goRightStop()
  59. {
  60. 	right_con1A = 0;	
  61. 	right_con2A = 0;
  62. }
  63.  
  64. //前进
  65. void goForward()
  66. {
  67. 	leftSpeed = 18;
  68. 	rightSpeed = 20;
  69. }
  70.  
  71. //停止
  72. void goStop()
  73. {
  74. 	leftSpeed = 0;
  75. 	rightSpeed = 0;
  76. }
  77.  
  78. //左转
  79. void goLeft()
  80. {
  81. 	leftSpeed = 10;
  82. 	rightSpeed = 20;
  83. }
  84.  
  85. //右转
  86. void goRight()
  87. {
  88. 	leftSpeed = 20;
  89. 	rightSpeed = 10;
  90. }
  91.  
  92. void Timer0Init(void)		//1毫秒@11.0592MHz
  93. {
  94. 	AUXR &= 0x7F;		//定时器时钟12T模式
  95. 	TMOD &= 0xF0;		//设置定时器模式
  96. 	TMOD |= 0x01;		//设置定时器模式
  97. 	//定时器初值为1ms
  98. 	TL0 = 0x66;		
  99. 	TH0 = 0xFC;		
  100. 	TF0 = 0;		//清除TF0标志
  101. 	TR0 = 1;		//定时器0开始计时
  102. 	ET0 = 1;
  103. 	EA  = 1;
  104. }
  105.  
  106. void Timer1Init(void)		//1毫秒@11.0592MHz
  107. {
  108. 	AUXR |= 0x40;		//定时器时钟1T模式
  109. 	TMOD &= 0x0F;		//设置定时器模式
  110. 	TMOD |= 0x10;		//设置定时器模式
  111. 	//定时器初值为1ms
  112. 	TL1 = 0xCD;		
  113. 	TH1 = 0xD4;		
  114. 	TF1 = 0;		//清除TF1标志
  115. 	TR1 = 1;		//定时器1开始计时
  116. 	ET1 = 1;
  117. 	EA  = 1;
  118. }
  119.  
  120. void main()
  121. {
  122. 	Timer0Init();
  123. 	Timer1Init();
  124. 	while(1){
  125. 		Delay1000ms();
  126. 		goForward();
  127. 		Delay1000ms();
  128. 		goLeft();
  129. 		Delay1000ms();
  130. 		goRight();
  131. 	}
  132. }
  133.  
  134. //定时器0的中断函数
  135. void Time0Handler() interrupt 1
  136. {
  137. 	cntLeft++;
  138. 	TL0 = 0x66;		
  139. 	TH0 = 0xFC;
  140. 	if(cntLeft < leftSpeed)
  141. 	{
  142. 		goLeftForward();
  143. 	}else{
  144. 		goLeftStop();
  145. 	}
  146. 	if(cntLeft == 20){
  147. 		cntLeft = 0;
  148. 	}
  149. }
  150.  
  151. void Time1Handler() interrupt 3
  152. {
  153. 	cntRight++;
  154. 	TL1 = 0x66;		
  155. 	TH1 = 0xFC;
  156. 	if(cntRight < rightSpeed)
  157. 	{
  158. 		goRightForward();
  159. 	}else{
  160. 		goRightStop();
  161. 	}
  162. 	if(cntRight == 20){
  163. 		cntRight = 0;
  164. 	}
  165. }

循迹小车 （利用循迹模块进行黑白色的检测）

  1. #include "reg52.h"
  2. #include <intrins.h>
  3. #include <string.h>
  4.  
  5. sfr AUXR = 0x8E;
  6.  
  7. sbit left_con1A = P1^1;
  8. sbit left_con2A = P1^2;
  9. sbit right_con1A = P1^3;
  10. sbit right_con2A = P1^4;
  11. sbit tracingLeft = P1^5;
  12. sbit tracingRight = P1^6;
  13.  
  14. char leftSpeed;
  15. char rightSpeed;
  16. int cntLeft = 0;
  17. int cntRight = 0;
  18.  
  19. //左电机反转
  20. void goLeftForward()
  21. {
  22. 	left_con1A = 1;
  23. 	left_con2A = 0;
  24. }
  25.  
  26. //左电机不转
  27. void goLeftStop()
  28. {
  29. 	left_con1A = 0;
  30. 	left_con2A = 0;
  31. }
  32.  
  33. //右电机反转
  34. void goRightForward()
  35. {
  36. 	right_con1A = 1;	
  37. 	right_con2A = 0;
  38. }
  39.  
  40. //右电机不转
  41. void goRightStop()
  42. {
  43. 	right_con1A = 0;	
  44. 	right_con2A = 0;
  45. }
  46.  
  47. //前进
  48. void goForward()
  49. {
  50. 	leftSpeed = 17;
  51. 	rightSpeed = 20;
  52. }
  53.  
  54. //停止
  55. void goStop()
  56. {
  57. 	leftSpeed = 0;
  58. 	rightSpeed = 0;
  59. }
  60.  
  61. //左转
  62. void goLeft()
  63. {
  64. 	leftSpeed = 5;
  65. 	rightSpeed = 20;
  66. }
  67.  
  68. //右转
  69. void goRight()
  70. {
  71. 	leftSpeed = 20;
  72. 	rightSpeed = 5;
  73. }
  74.  
  75. void Timer0Init(void)		//1毫秒@11.0592MHz
  76. {
  77. 	AUXR &= 0x7F;		//定时器时钟12T模式
  78. 	TMOD &= 0xF0;		//设置定时器模式
  79. 	TMOD |= 0x01;		//设置定时器模式
  80. 	//定时器初值为1ms
  81. 	TL0 = 0x66;		
  82. 	TH0 = 0xFC;		
  83. 	TF0 = 0;		//清除TF0标志
  84. 	TR0 = 1;		//定时器0开始计时
  85. 	ET0 = 1;
  86. 	EA  = 1;
  87. }
  88.  
  89. void Timer1Init(void)		//1毫秒@11.0592MHz
  90. {
  91. 	AUXR |= 0x40;		//定时器时钟1T模式
  92. 	TMOD &= 0x0F;		//设置定时器模式
  93. 	TMOD |= 0x10;		//设置定时器模式
  94. 	//定时器初值为1ms
  95. 	TL1 = 0xCD;		
  96. 	TH1 = 0xD4;		
  97. 	TF1 = 0;		//清除TF1标志
  98. 	TR1 = 1;		//定时器1开始计时
  99. 	ET1 = 1;
  100. 	EA  = 1;
  101. }
  102.  
  103. void tracingMode()
  104. {	
  105. 	if(tracingLeft == 0 && tracingRight == 0){  //
  106. 		goForward();
  107. 	}
  108.  
  109. 	if(tracingLeft == 0 && tracingRight == 1){
  110. 		goRight();
  111. 	}
  112.  
  113. 	if(tracingLeft == 1 && tracingRight == 0){
  114. 		goLeft();
  115. 	}
  116.  
  117. 	if(tracingLeft == 1 && tracingRight == 1){
  118. 		goStop();
  119. 	}
  120. }
  121.  
  122. void main()
  123. {
  124. 	Timer0Init();
  125. 	Timer1Init();
  126. 	while(1){
  127. 		tracingMode();
  128. 	}
  129. }
  130.  
  131. //定时器0的中断函数
  132. void Time0Handler() interrupt 1
  133. {
  134. 	cntLeft++;
  135. 	TL0 = 0x66;		
  136. 	TH0 = 0xFC;
  137. 	if(cntLeft < leftSpeed)
  138. 	{
  139. 		goLeftForward();
  140. 	}else{
  141. 		goLeftStop();
  142. 	}
  143. 	if(cntLeft == 20){
  144. 		cntLeft = 0;
  145. 	}
  146. }
  147.  
  148. void Time1Handler() interrupt 3
  149. {
  150. 	cntRight++;
  151. 	TL1 = 0x66;		
  152. 	TH1 = 0xFC;
  153. 	if(cntRight < rightSpeed)
  154. 	{
  155. 		goRightForward();
  156. 	}else{
  157. 		goRightStop();
  158. 	}
  159. 	if(cntRight == 20){
  160. 		cntRight = 0;
  161. 	}
  162. }

跟随小车（利用红外避障模块完成跟随行为）

  1. #include "reg52.h"
  2. #include <intrins.h>
  3. #include <string.h>
  4.  
  5. sfr AUXR = 0x8E;
  6.  
  7. sbit left_con1A = P1^1;
  8. sbit left_con2A = P1^2;
  9. sbit right_con1A = P1^3;
  10. sbit right_con2A = P1^4;
  11. sbit followLeft = P2^1;
  12. sbit followRight = P2^2;
  13.  
  14. char leftSpeed;
  15. char rightSpeed;
  16. int cntLeft = 0;
  17. int cntRight = 0;
  18.  
  19. //左电机反转
  20. void goLeftForward()
  21. {
  22. 	left_con1A = 1;
  23. 	left_con2A = 0;
  24. }
  25.  
  26. //左电机不转
  27. void goLeftStop()
  28. {
  29. 	left_con1A = 0;
  30. 	left_con2A = 0;
  31. }
  32.  
  33. //右电机反转
  34. void goRightForward()
  35. {
  36. 	right_con1A = 1;	
  37. 	right_con2A = 0;
  38. }
  39.  
  40. //右电机不转
  41. void goRightStop()
  42. {
  43. 	right_con1A = 0;	
  44. 	right_con2A = 0;
  45. }
  46.  
  47. //前进
  48. void goForward()
  49. {
  50. 	leftSpeed = 17;
  51. 	rightSpeed = 20;
  52. }
  53.  
  54. //停止
  55. void goStop()
  56. {
  57. 	leftSpeed = 0;
  58. 	rightSpeed = 0;
  59. }
  60.  
  61. //左转
  62. void goLeft()
  63. {
  64. 	leftSpeed = 8;
  65. 	rightSpeed = 20;
  66. }
  67.  
  68. //右转
  69. void goRight()
  70. {
  71. 	leftSpeed = 20;
  72. 	rightSpeed = 10;
  73. }
  74.  
  75. void Timer0Init(void)		//1毫秒@11.0592MHz
  76. {
  77. 	AUXR &= 0x7F;		//定时器时钟12T模式
  78. 	TMOD &= 0xF0;		//设置定时器模式
  79. 	TMOD |= 0x01;		//设置定时器模式
  80. 	//定时器初值为1ms
  81. 	TL0 = 0x66;		
  82. 	TH0 = 0xFC;		
  83. 	TF0 = 0;		//清除TF0标志
  84. 	TR0 = 1;		//定时器0开始计时
  85. 	ET0 = 1;
  86. 	EA  = 1;
  87. }
  88.  
  89. void Timer1Init(void)		//1毫秒@11.0592MHz
  90. {
  91. 	AUXR |= 0x40;		//定时器时钟1T模式
  92. 	TMOD &= 0x0F;		//设置定时器模式
  93. 	TMOD |= 0x10;		//设置定时器模式
  94. 	//定时器初值为1ms
  95. 	TL1 = 0xCD;		
  96. 	TH1 = 0xD4;		
  97. 	TF1 = 0;		//清除TF1标志
  98. 	TR1 = 1;		//定时器1开始计时
  99. 	ET1 = 1;
  100. 	EA  = 1;
  101. }
  102.  
  103. void followMode()
  104. {	
  105. 	if(followLeft == 0 && followRight == 0){  //
  106. 		goForward();
  107. 	}
  108.  
  109. 	if(followLeft == 0 && followRight == 1){
  110. 		goRight();
  111. 	}
  112.  
  113. 	if(followLeft == 1 && followRight == 0){
  114. 		goLeft();
  115. 	}
  116.  
  117. 	if(followLeft == 1 && followRight == 1){
  118. 		goStop();
  119. 	}
  120. }
  121.  
  122. void main()
  123. {
  124. 	Timer0Init();
  125. 	Timer1Init();
  126. 	while(1){
  127. 		followMode();
  128. 	}
  129. }
  130.  
  131. //定时器0的中断函数
  132. void Time0Handler() interrupt 1
  133. {
  134. 	cntLeft++;
  135. 	TL0 = 0x66;		
  136. 	TH0 = 0xFC;
  137. 	if(cntLeft < leftSpeed)
  138. 	{
  139. 		goLeftForward();
  140. 	}else{
  141. 		goLeftStop();
  142. 	}
  143. 	if(cntLeft == 20){
  144. 		cntLeft = 0;
  145. 	}
  146. }
  147.  
  148. void Time1Handler() interrupt 3
  149. {
  150. 	cntRight++;
  151. 	TL1 = 0x66;		
  152. 	TH1 = 0xFC;
  153. 	if(cntRight < rightSpeed)
  154. 	{
  155. 		goRightForward();
  156. 	}else{
  157. 		goRightStop();
  158. 	}
  159. 	if(cntRight == 20){
  160. 		cntRight = 0;
  161. 	}
  162. }

避障小车（利用超声波测距完成避障行为）

  • 利用定时器0软件模拟PWM波控制sg90舵机转动方向
  • 利用定时器1和超声波不断测量前方距离
  1. #include "reg52.h"
  2. #include <intrins.h>
  3.  
  4. sbit left_con1A = P1^1;
  5. sbit left_con2A = P1^2;
  6. sbit right_con1A = P1^3;
  7. sbit right_con2A = P1^4;
  8. sbit Trig = P2^3;
  9. sbit Echo = P2^4;
  10. sbit sg90 = P2^5;
  11.  
  12. int angle;
  13. int angleBack;
  14. int cnt = 0;
  15.  
  16. void Delay100ms()		//@11.0592MHz
  17. {
  18. 	unsigned char i, j;
  19.  
  20. 	i = 180;
  21. 	j = 73;
  22. 	do
  23. 	{
  24. 		while (--j);
  25. 	} while (--i);
  26. }
  27.  
  28. void Delay300ms()		//@11.0592MHz
  29. {
  30. 	unsigned char i, j, k;
  31.  
  32. 	_nop_();
  33. 	i = 3;
  34. 	j = 26;
  35. 	k = 223;
  36. 	do
  37. 	{
  38. 		do
  39. 		{
  40. 			while (--k);
  41. 		} while (--j);
  42. 	} while (--i);
  43. }
  44.  
  45. void Delay500ms()		//@11.0592MHz
  46. {
  47. 	unsigned char i, j, k;
  48.  
  49. 	_nop_();
  50. 	i = 4;
  51. 	j = 129;
  52. 	k = 119;
  53. 	do
  54. 	{
  55. 		do
  56. 		{
  57. 			while (--k);
  58. 		} while (--j);
  59. 	} while (--i);
  60. }
  61.  
  62. void Delay10us()		//@11.0592MHz
  63. {
  64. 	unsigned char i;
  65.  
  66. 	i = 2;
  67. 	while (--i);
  68. }
  69.  
  70. //两个电机反转，前进
  71. void goForward()
  72. {
  73. 	left_con1A = 1;
  74. 	left_con2A = 0;
  75. 	
  76. 	right_con1A = 1;	
  77. 	right_con2A = 0;
  78. }
  79.  
  80. //两个电机正转，后退
  81. void goBack()
  82. {
  83. 	left_con1A = 0;
  84. 	left_con2A = 1;
  85. 	
  86. 	right_con1A = 0;	
  87. 	right_con2A = 1;
  88. }
  89.  
  90. //两个电机不转，停止
  91. void goStop()
  92. {
  93. 	left_con1A = 0;
  94. 	left_con2A = 0;
  95. 	
  96. 	right_con1A = 0;	
  97. 	right_con2A = 0;
  98. }
  99.  
  100. //左电机不转，右电机反转，左转
  101. void goLeft()
  102. {
  103. 	left_con1A = 0;
  104. 	left_con2A = 0;
  105. 	
  106. 	right_con1A = 1;	
  107. 	right_con2A = 0;
  108. }
  109.  
  110. //左电机反转，右电机不转，右转
  111. void goRight()
  112. {
  113. 	left_con1A = 1;
  114. 	left_con2A = 0;
  115.  
  116. 	right_con1A = 0;	
  117. 	right_con2A = 0;
  118. }
  119.  
  120. void timer0Init()
  121. {
  122. 	//设置定时器0为16为计时模式
  123. 	TMOD &=0xF0; 
  124. 	TMOD |=0x01; 
  125.  
  126. 	//设置定时器0定时时间为0.5ms
  127. 	TH0 = 0xFE;
  128. 	TL0 = 0x33;
  129.  
  130. 	TR0 = 1;  //定时器0开始计时
  131. 	TF0 = 0;  //不执行定时器0爆表时导致的中断
  132.  
  133. 	ET0 = 1;  //定时器0中断开关
  134. 	EA = 1;  //总中断开关
  135. }
  136.  
  137. void timer1Init()
  138. {	
  139. 	//设置定时器1为16为计时模式
  140. 	TMOD &= 0x0F;
  141. 	TMOD |= 0x10;  
  142.  
  143. 	TH1 = 0x00;
  144. 	TL1 = 0x00;
  145. }
  146.  
  147. void ultrasonicStart()
  148. {
  149. 	Trig = 0;
  150. 	Trig = 1;
  151. 	Delay10us();
  152. 	Trig = 0; 
  153. }
  154.  
  155. double getDistance()
  156. {
  157. 	double time = 0;
  158. 	
  159. 	//定时器1清0
  160. 	TH1 = 0x00;
  161. 	TL1 = 0x00;
  162.  
  163. 	ultrasonicStart();
  164. 		
  165. 	while(Echo == 0);  //当Echo引脚从低电平跳到高电平时开启定时器1
  166. 	TR1 = 1;
  167. 		
  168. 	while(Echo == 1);  //当Echo引脚从高电平跳到低电平时关闭定时器1
  169. 	TR1 = 0;
  170.  
  171. 	time = (TH1*256 + TL1) * 1.085;  //微秒
  172.  
  173. 	return (time * 0.017);
  174. }
  175.  
  176. void sg90Left()
  177. {
  178. 	angle = 5;  //180°
  179. 	if(angleBack != angle){  
  180. 		cnt = 0;
  181. 	}
  182. 	angleBack = angle;
  183. 	Delay100ms();
  184. } 
  185.  
  186. void sg90Middle()
  187. {
  188. 	angle = 3;  //90°
  189. 	if(angleBack != angle){  
  190. 		cnt = 0;
  191. 	}
  192. 	angleBack = angle;
  193. 	Delay100ms();
  194. } 
  195.  
  196. void sg90Right()
  197. {
  198. 	angle = 1;  //0°
  199. 	if(angleBack != angle){  
  200. 		cnt = 0;
  201. 	}
  202. 	angleBack = angle;
  203. 	Delay100ms();
  204. } 
  205.  
  206. void main()
  207. {
  208. 	double leftDistance;
  209. 	double rightDistance;
  210. 	double middleDistance;
  211.  
  212. 	timer0Init();
  213. 	timer1Init();
  214. 	
  215. 	sg90Middle();
  216. 	Delay500ms();
  217.  
  218. 	while(1){
  219. 		sg90Middle();
  220. 		Delay300ms();
  221. 		middleDistance = getDistance();
  222. 		if(middleDistance > 35){
  223. 			goForward();
  224. 		}else{
  225. 			goStop();
  226.  
  227. 			sg90Left();
  228. 			Delay300ms();
  229. 			leftDistance = getDistance();
  230.  
  231. 			sg90Middle();
  232. 			Delay300ms();
  233.  
  234. 			sg90Right();
  235. 			Delay300ms();
  236. 			rightDistance = getDistance();
  237.  
  238. 			if(leftDistance < 15 && rightDistance < 15){
  239. 				goBack();
  240. 				Delay500ms();
  241. 				goStop();
  242. 			}else{
  243.  
  244. 				if(leftDistance > rightDistance){
  245. 					goLeft();
  246. 					Delay500ms();
  247. 					goStop();
  248. 				}
  249.  
  250. 				if(rightDistance > leftDistance){
  251. 					goRight();
  252. 					Delay500ms();
  253. 					goStop();
  254. 				}
  255. 			}
  256. 		}
  257. 	}
  258. }
  259.  
  260. //定时器0的中断函数
  261. void Time0Handler() interrupt 1
  262. {
  263. 	
  264. 	TH0 = 0xFE;
  265. 	TL0 = 0x33;
  266. 	cnt++;
  267. 	//控制占空比
  268. 	if(cnt < angle){
  269. 		sg90 = 1;
  270. 	}else{
  271. 		sg90 = 0;
  272. 	}
  273.  
  274. 	if(cnt == 40){  //每个周期为20ms
  275. 		cnt = 0;
  276. 		sg90 = 1;
  277. 	}
  278. }

测速小车，使用OLED屏显示小车速度

  • 轮子走一圈，经过一个周长，C = 2x3.14x半径= 3.14 x 直径（6.5cm），对应的转速码盘也转了一圈
  • 码盘有20个格子，每经过一个格子，会遮挡（高电平）和不遮挡（低电平），即产生下降沿，一个下降沿就是走了 3.14 * 6.5 cm /20 = 1.0205CM
  • 定时器可以设计成一秒，统计下降沿，一个下降沿就是1cm，假设一秒有80脉冲，那么就是80cm/s
  1. #include "reg52.h"
  2. #include <intrins.h>
  3. #include <string.h>
  4. #include <stdio.h>
  5.  
  6. sfr AUXR = 0x8E;
  7.  
  8. sbit left_con1A = P1^1;
  9. sbit left_con2A = P1^2;
  10. sbit right_con1A = P1^3;
  11. sbit right_con2A = P1^4;
  12. sbit Tachometer = P3^2;  //测速模块产生下降沿，让外部中断0产生中断
  13. sbit scl = P2^6;
  14. sbit sda = P2^7;
  15.  
  16. char mybuf[24];
  17.  
  18. int signal;  
  19. unsigned int cnt;
  20. unsigned int speedCnt = 0;
  21. unsigned int speed;
  22. char speedMsg[24];
  23.  
  24. void Delay5us()		//@11.0592MHz
  25. {
  26. }
  27.  
  28. //两个电机反转，前进
  29. void goForward()
  30. {
  31. 	left_con1A = 1;
  32. 	left_con2A = 0;
  33. 	
  34. 	right_con1A = 1;	
  35. 	right_con2A = 0;
  36. }
  37.  
  38. //两个电机正转，后退
  39. void goBack()
  40. {
  41. 	left_con1A = 0;
  42. 	left_con2A = 1;
  43. 	
  44. 	right_con1A = 0;	
  45. 	right_con2A = 1;
  46. }
  47.  
  48. //两个电机不转，停止
  49. void goStop()
  50. {
  51. 	left_con1A = 0;
  52. 	left_con2A = 0;
  53. 	
  54. 	right_con1A = 0;	
  55. 	right_con2A = 0;
  56. }
  57.  
  58. //左电机不转，右电机反转，左转
  59. void goLeft()
  60. {
  61. 	left_con1A = 0;
  62. 	left_con2A = 0;
  63. 	
  64. 	right_con1A = 1;	
  65. 	right_con2A = 0;
  66. }
  67.  
  68. //左电机反转，右电机不转，右转
  69. void goRight()
  70. {
  71. 	left_con1A = 1;
  72. 	left_con2A = 0;
  73.  
  74. 	right_con1A = 0;	
  75. 	right_con2A = 0;
  76. }
  77.  
  78. //串口初始化
  79. void uartInit()
  80. {
  81. 	AUXR = 0x01;
  82. 	PCON &= 0x7F;  //配置波特率正常
  83. 	SCON = 0x50;  //配置串口选择工作方式1,允许串口接收数据
  84. 	
  85. 	//配置定时器1为8位自动重装模式
  86. 	TMOD &= 0x0F;
  87. 	TMOD |= 0x20;
  88. 	
  89. 	//给定时器1,9600波特率初值
  90. 	TH1 = 0xFD;  //定时器1初值
  91. 	TL1 = 0xFD;  //定时器1重装值
  92.  
  93. 	ET1 = 0;  //不允许定时器1产生中断
  94. 	TR1 = 1;  //开启定时器1
  95.  
  96. 	EA = 1;  //开启总中断
  97. 	ES = 1;  //开启串口中断
  98.  
  99. }
  100.  
  101. //定时器0初始化，初值为1ms
  102. void Time0Init()
  103. {
  104. 	TMOD &=0xF0; 
  105. 	TMOD |=0x01;
  106. 	//1ms
  107. 	TL0 = 0x66;		
  108. 	TH0 = 0xFC;
  109. 	TR0 = 1;
  110. 	ET0 = 1;
  111. 	EA  =1;
  112. }
  113.  
  114. //外部中断0初始化
  115. void int0Init()
  116. {
  117. 	EX0 = 1;
  118. 	EA = 1;
  119. 	IT0 = 1;  //下降沿触发外部中断0
  120. }
  121.  
  122. //IIC起始信号
  123. void IIC_start()
  124. {
  125. 	sda = 0;
  126. 	scl = 1;
  127. 	sda = 1;
  128. 	Delay5us();
  129. 	sda = 0;
  130. 	Delay5us();
  131. 	scl = 0;
  132. }
  133.  
  134. //IIC终止信号
  135. void IIC_stop()
  136. {
  137. 	scl = 0;
  138. 	sda = 0;
  139. 	scl = 1;
  140. 	Delay5us();
  141. 	sda = 1;
  142. 	Delay5us();
  143. 	sda = 0;
  144. }
  145.  
  146. //IIC的ACK应答信号
  147. char IIC_ack()
  148. {
  149. 	char flag;
  150.  
  151. 	scl = 0;
  152. 	sda = 1;  //在时钟脉冲9期间释放数据线
  153. 	Delay5us();  //延时5微秒后，为读取sda数据做准备
  154.  
  155. 	scl = 1;  
  156. 	Delay5us();  
  157. 	flag = sda;  //读取数据线,0为应答
  158. 	Delay5us();  
  159. 	
  160. 	scl = 0;
  161. 	Delay5us();
  162. 	return flag;
  163. }
  164.  
  165. //IIC发送一个字节
  166. void IIC_sendByte(char myData)
  167. {
  168. 	int i;
  169. 	for ( i = 0; i < 8; i++){
  170. 		//发生数据翻转，选择即将发送的是0还是1
  171. 		scl = 0;
  172. 		sda = myData & 0x80;  //获取需要发送字节的最高位到SDA
  173. 		Delay5us();  //数据建立时间
  174. 		
  175. 		//开始发送数据
  176. 		scl = 1;
  177. 		Delay5us();  //数据发送时间
  178. 		
  179. 		scl = 0;  //发送完毕拉低，等待下1bit数据的传输
  180. 		Delay5us();
  181. 		
  182. 		myData = myData << 1;
  183. 	}	
  184. }
  185.  
  186. //OLED写入一条指令
  187. void oledWriteCmd(char writeCmd)
  188. {
  189. 	IIC_start();
  190. 	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
  191. 	IIC_ack();
  192. 	IIC_sendByte(0x00);  //写入命令，D/C位为0
  193. 	IIC_ack();
  194. 	IIC_sendByte(writeCmd);
  195. 	IIC_ack();
  196. 	IIC_stop();
  197. }
  198.  
  199. //OLED写入一个数据
  200. void oledWriteData(char writeData)
  201. {
  202. 	IIC_start();
  203. 	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
  204. 	IIC_ack();
  205. 	IIC_sendByte(0x40);  //写入命令，D/C位为0
  206. 	IIC_ack();
  207. 	IIC_sendByte(writeData);
  208. 	IIC_ack();
  209. 	IIC_stop();
  210. }
  211.  
  212. //OLCD初始化
  213. void oledInit()
  214. {
  215. 	oledWriteCmd(0xAE);
  216. 	oledWriteCmd(0x00);
  217. 	oledWriteCmd(0x10);
  218. 	oledWriteCmd(0x40);
  219. 	oledWriteCmd(0xB0);
  220. 	oledWriteCmd(0x81);
  221. 	oledWriteCmd(0xFF);
  222. 	oledWriteCmd(0xA1);
  223. 	oledWriteCmd(0xA6);
  224. 	oledWriteCmd(0xA8);
  225. 	oledWriteCmd(0x3F);
  226. 	oledWriteCmd(0xC8);
  227. 	oledWriteCmd(0xD3);
  228. 	oledWriteCmd(0x00);
  229. 	oledWriteCmd(0xD5);
  230. 	oledWriteCmd(0x80);
  231. 	oledWriteCmd(0xD8);
  232. 	oledWriteCmd(0x05);
  233. 	oledWriteCmd(0xD9);
  234. 	oledWriteCmd(0xF1);
  235. 	oledWriteCmd(0xDA);
  236. 	oledWriteCmd(0x12);
  237. 	oledWriteCmd(0xDB);
  238. 	oledWriteCmd(0x30);
  239. 	oledWriteCmd(0x8D);
  240. 	oledWriteCmd(0x14);
  241. 	oledWriteCmd(0xAF);
  242. }
  243.  
  244. void olceClean()
  245. {
  246. 	int i,j;
  247. 	for(i=0;i<8;i++){
  248. 		oledWriteCmd(0xB0 + i);  //选择PAGE
  249. 		//选择PAGE的第0列开始显示
  250. 		oledWriteCmd(0x00);  
  251. 		oledWriteCmd(0x10);
  252. 		for(j = 0;j < 128; j++){
  253. 			oledWriteData(0);  //写入字符0
  254. 		}
  255. 	}
  256. }
  257.  
  258. //OLED的字符构造点阵
  259. const unsigned char code oledFont[]=
  260. {
  261.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  262.   0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  263.   0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  264.   0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  265.   0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  266.   0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  267.   0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  268.   0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  269.   0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  270.   0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  271.   0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  272.   0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  273.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  274.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  275.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  276.   0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  277.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  278.   0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  279.   0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  280.   0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  281.   0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  282.   0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  283.   0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  284.   0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  285.   0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  286.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  287.   0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  288.   0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  289.   0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  290.   0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  291.   0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  292.   0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  293.   0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  294.   0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  295.   0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  296.   0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  297.   0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  298.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  299.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  300.   0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  301.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  302.   0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  303.   0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  304.   0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  305.   0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  306.   0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  307.   0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  308.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  309.   0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  310.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  311.   0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  312.   0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  313.   0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  314.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  315.   0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  316.   0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  317.   0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  318.   0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  319.   0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  320.   0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  321.   0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  322.   0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  323.   0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  324.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  325.   0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  326.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  327.   0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  328.   0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  329.   0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  330.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  331.   0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  332.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  333.   0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  334.   0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  335.   0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  336.   0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  337.   0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  338.   0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  339.   0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  340.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  341.   0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  342.   0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  343.   0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  344.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  345.   0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  346.   0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  347.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  348.   0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  349.   0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  350.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  351.   0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  352.   0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  353.   0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  354.   0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  355.   0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
  356. };
  357.  
  358. //OLED显示一个字符
  359. void oledShowByte(char rows,char columns,char oledByte)
  360. { 
  361. 	unsigned int i;
  362.  
  363. 	//显示字符的上半部分
  364. 	oledWriteCmd(0xb0+(rows*2-2));  //选择行
  365. 	//选择列                        
  366. 	oledWriteCmd(0x00+(columns&0x0f));                          
  367. 	oledWriteCmd(0x10+(columns>>4));      
  368. 	//显示数据                       
  369. 	for(i=((oledByte-32)*16);i<((oledByte-32)*16+8);i++){
  370. 		oledWriteData(oledFont[i]);                            
  371. 	}
  372.  
  373.  	//显示字符的上半部分
  374. 	oledWriteCmd(0xb0+(rows*2-1));  //选择行  
  375. 	//选择列                    
  376. 	oledWriteCmd(0x00+(columns&0x0f));                          
  377. 	oledWriteCmd(0x10+(columns>>4)); 
  378. 	//显示数据                           
  379. 	for(i=((oledByte-32)*16+8);i<((oledByte-32)*16+8+8);i++){
  380. 		oledWriteData(oledFont[i]);                            
  381. 	}       
  382. }
  383.  
  384. //OLED显示一个字符串
  385. void oledShowString(char rows,char columns,char *str)
  386. {
  387. 	while(*str != '\0'){
  388. 		oledShowByte(rows,columns,*str);
  389. 		str++;
  390. 		columns += 8;   
  391. 	}       
  392. }
  393.  
  394. void main()
  395. {
  396. 	uartInit();
  397. 	Time0Init();
  398. 	int0Init();
  399.  
  400. 	oledInit();
  401. 	olceClean();  //清屏函数
  402. 	oledWriteCmd(0x20);  //设置内存
  403. 	oledWriteCmd(0x02);  //选择页寻址模式
  404.  
  405. 	while(1){
  406. 		if(signal == 1){
  407. 			sprintf(speedMsg,"speed:%dcm/s ",speed);
  408. 			olceClean();
  409. 			oledShowString(2,5,speedMsg);
  410. 			signal = 0;
  411. 		}
  412. 	}
  413. }
  414.  
  415. //定时器0产生的中断的处理函数
  416. void Time0Handle() interrupt 1
  417. {
  418. 	cnt++;
  419. 	TL0 = 0x66;		
  420. 	TH0 = 0xFC;
  421. 	//每过一秒统计一次产生了多少次下降沿，让main函数向串口发送当前小车速度
  422. 	if(cnt == 1000){
  423. 		cnt = 0;
  424. 		signal = 1;  
  425. 		speed = speedCnt;
  426. 		speedCnt = 0;
  427. 	}
  428. }
  429.  
  430. //外部中断0产生的中断的处理函数
  431. void int0Handle() interrupt 0
  432. {
  433. 	speedCnt++;  //每产生一个下降沿让标志位+1
  434. }
  435.  
  436. //串口产生的中断的处理函数
  437. void myUart() interrupt 4
  438. {
  439. 	static int i = 0;
  440. 	char tmp;
  441.  
  442. 	//接收数据后，RI硬件置位产生的中断
  443. 	if(RI){
  444. 		RI = 0;  //RI软件清0
  445. 		//获取从pc端接收到的数据
  446. 		tmp = SBUF;
  447.  
  448. 		if(tmp == 'f' || tmp == 'b' || tmp == 'l' || tmp == 'r' || tmp == 's'){
  449. 			i = 0;
  450. 		}
  451. 		mybuf[i] = tmp;
  452. 		i++;
  453.  
  454. 		//forward
  455. 		if(mybuf[0] == 'f' && mybuf[1] == 'o'){
  456. 			goForward();
  457. 			memset(mybuf,'\0',24);
  458. 		}
  459.  
  460. 		//forward
  461. 		if(mybuf[0] == 'b' && mybuf[1] == 'a'){
  462. 			goBack();
  463. 			memset(mybuf,'\0',24);
  464. 		}
  465.  
  466. 		//left
  467. 		if(mybuf[0] == 'l' && mybuf[1] == 'e'){
  468. 			goLeft();
  469. 			memset(mybuf,'\0',24);
  470. 		}
  471. 		//right
  472. 		if(mybuf[0] == 'r' && mybuf[1] == 'i'){
  473. 			goRight();
  474. 			memset(mybuf,'\0',24);
  475. 		}
  476.  
  477. 		//stop
  478. 		if(mybuf[0] == 's' && mybuf[1] == 't'){
  479. 			goStop();
  480. 			memset(mybuf,'\0',24);
  481. 		}
  482.  
  483. 		if(i == 24){
  484. 			i = 0;
  485. 		}
  486.  
  487. 	}
  488.  
  489. 	//发送数据后，TI硬件置位产生的中断
  490. 	if(TI);  
  491. }

语音控制小车，循迹、跟随、避障三种功能切换

  1. #include "reg52.h"
  2. #include <intrins.h>
  3.  
  4. #define BZ 1
  5. #define XJ 2
  6. #define GS 3
  7.  
  8. sfr AUXR = 0x8E;
  9.  
  10. //sg90
  11. sbit sg90 = P2^5;
  12. //ultrasonic
  13. sbit Trig = P2^3;
  14. sbit Echo = P2^4;
  15. //oled
  16. sbit scl = P2^6;
  17. sbit sda = P2^7;
  18. //car
  19. sbit left_con1A = P1^1;
  20. sbit left_con2A = P1^2;
  21. sbit right_con1A = P1^3;
  22. sbit right_con2A = P1^4;
  23. //循迹
  24. sbit tracingLeft = P1^5;
  25. sbit tracingRight = P1^6;
  26. //跟随
  27. sbit followLeft = P2^1;
  28. sbit followRight = P2^2;
  29. //su-03t
  30. sbit A25 = P0^1;
  31. sbit A26 = P0^2;
  32. sbit A27 = P0^3;
  33.  
  34. int angle;
  35. int angleBack;
  36. int cnt = 0;
  37.  
  38. double leftDistance;
  39. double rightDistance;
  40. double middleDistance;
  41.  
  42. //OLED的字符构造点阵
  43. const unsigned char code oledFont[]=
  44. {
  45.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  46.   0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  47.   0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  48.   0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  49.   0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  50.   0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  51.   0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  52.   0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  53.   0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  54.   0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  55.   0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  56.   0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  57.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  58.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  59.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  60.   0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  61.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  62.   0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  63.   0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  64.   0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  65.   0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  66.   0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  67.   0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  68.   0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  69.   0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  70.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  71.   0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  72.   0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  73.   0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  74.   0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  75.   0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  76.   0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  77.   0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  78.   0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  79.   0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  80.   0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  81.   0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  82.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  83.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  84.   0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  85.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  86.   0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  87.   0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  88.   0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  89.   0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  90.   0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  91.   0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  92.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  93.   0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  94.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  95.   0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  96.   0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  97.   0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  98.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  99.   0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  100.   0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  101.   0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  102.   0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  103.   0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  104.   0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  105.   0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  106.   0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  107.   0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  108.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  109.   0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  110.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  111.   0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  112.   0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  113.   0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  114.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  115.   0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  116.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  117.   0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  118.   0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  119.   0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  120.   0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  121.   0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  122.   0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  123.   0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  124.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  125.   0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  126.   0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  127.   0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  128.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  129.   0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  130.   0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  131.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  132.   0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  133.   0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  134.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  135.   0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  136.   0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  137.   0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  138.   0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  139.   0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
  140. };
  141.  
  142. void Delay5us()		//@11.0592MHz
  143. {
  144. }
  145.  
  146. void Delay10us()		//@11.0592MHz
  147. {
  148. 	unsigned char i;
  149.  
  150. 	i = 2;
  151. 	while (--i);
  152. }
  153.  
  154. void Delay100ms()		//@11.0592MHz
  155. {
  156. 	unsigned char i, j;
  157.  
  158. 	i = 180;
  159. 	j = 73;
  160. 	do
  161. 	{
  162. 		while (--j);
  163. 	} while (--i);
  164. }
  165.  
  166. void Delay300ms()		//@11.0592MHz
  167. {
  168. 	unsigned char i, j, k;
  169.  
  170. 	_nop_();
  171. 	i = 3;
  172. 	j = 26;
  173. 	k = 223;
  174. 	do
  175. 	{
  176. 		do
  177. 		{
  178. 			while (--k);
  179. 		} while (--j);
  180. 	} while (--i);
  181. }
  182.  
  183. void Delay500ms()		//@11.0592MHz
  184. {
  185. 	unsigned char i, j, k;
  186.  
  187. 	_nop_();
  188. 	i = 4;
  189. 	j = 129;
  190. 	k = 119;
  191. 	do
  192. 	{
  193. 		do
  194. 		{
  195. 			while (--k);
  196. 		} while (--j);
  197. 	} while (--i);
  198. }
  199.  
  200. //sg90
  201. void timer0Init()
  202. {
  203. 	//设置定时器0为16为计时模式
  204. 	TMOD &=0xF0; 
  205. 	TMOD |=0x01; 
  206.  
  207. 	//设置定时器0定时时间为0.5ms
  208. 	TH0 = 0xFE;
  209. 	TL0 = 0x33;
  210.  
  211. 	TR0 = 1;  //定时器0开始计时
  212. 	TF0 = 0;  //不执行定时器0爆表时导致的中断
  213.  
  214. 	ET0 = 1;  //定时器0中断开关
  215. 	EA = 1;  //总中断开关
  216. }
  217.  
  218. void sg90Left()
  219. {
  220. 	angle = 5;  //180°
  221. 	if(angleBack != angle){  
  222. 		cnt = 0;
  223. 	}
  224. 	angleBack = angle;
  225. 	Delay100ms();
  226. } 
  227.  
  228. void sg90Middle()
  229. {
  230. 	angle = 3;  //90°
  231. 	if(angleBack != angle){  
  232. 		cnt = 0;
  233. 	}
  234. 	angleBack = angle;
  235. 	Delay100ms();
  236. } 
  237.  
  238. void sg90Right()
  239. {
  240. 	angle = 1;  //0°
  241. 	if(angleBack != angle){  
  242. 		cnt = 0;
  243. 	}
  244. 	angleBack = angle;
  245. 	Delay100ms();
  246. }
  247.  
  248. //ultrasonic
  249. void timer1Init()
  250. {	
  251. 	//设置定时器1为16为计时模式
  252. 	TMOD &= 0x0F;
  253. 	TMOD |= 0x10;  
  254.  
  255. 	TH1 = 0x00;
  256. 	TL1 = 0x00;
  257. }
  258.  
  259. void ultrasonicStart()
  260. {
  261. 	Trig = 0;
  262. 	Trig = 1;
  263. 	Delay10us();
  264. 	Trig = 0; 
  265. }
  266.  
  267. double getDistance()
  268. {
  269. 	double time = 0;
  270. 	
  271. 	//定时器1清0
  272. 	TH1 = 0x00;
  273. 	TL1 = 0x00;
  274.  
  275. 	ultrasonicStart();
  276. 		
  277. 	while(Echo == 0);  //当Echo引脚从低电平跳到高电平时开启定时器1
  278. 	TR1 = 1;
  279. 		
  280. 	while(Echo == 1);  //当Echo引脚从高电平跳到低电平时关闭定时器1
  281. 	TR1 = 0;
  282.  
  283. 	time = (TH1*256 + TL1) * 1.085;  //微秒
  284.  
  285. 	return (time * 0.017);
  286. }
  287.  
  288. //oled
  289. //IIC起始信号
  290. void IIC_start()
  291. {
  292. 	sda = 0;
  293. 	scl = 1;
  294. 	sda = 1;
  295. 	Delay5us();
  296. 	sda = 0;
  297. 	Delay5us();
  298. 	scl = 0;
  299. }
  300.  
  301. //IIC终止信号
  302. void IIC_stop()
  303. {
  304. 	scl = 0;
  305. 	sda = 0;
  306. 	scl = 1;
  307. 	Delay5us();
  308. 	sda = 1;
  309. 	Delay5us();
  310. 	sda = 0;
  311. }
  312.  
  313. //IIC的ACK应答信号
  314. char IIC_ack()
  315. {
  316. 	char flag;
  317.  
  318. 	scl = 0;
  319. 	sda = 1;  //在时钟脉冲9期间释放数据线
  320. 	Delay5us();  //延时5微秒后，为读取sda数据做准备
  321.  
  322. 	scl = 1;  
  323. 	Delay5us();  
  324. 	flag = sda;  //读取数据线,0为应答
  325. 	Delay5us();  
  326. 	
  327. 	scl = 0;
  328. 	Delay5us();
  329. 	return flag;
  330. }
  331.  
  332. //IIC发送一个字节
  333. void IIC_sendByte(char myData)
  334. {
  335. 	int i;
  336. 	for ( i = 0; i < 8; i++){
  337. 		//发生数据翻转，选择即将发送的是0还是1
  338. 		scl = 0;
  339. 		sda = myData & 0x80;  //获取需要发送字节的最高位到SDA
  340. 		Delay5us();  //数据建立时间
  341. 		
  342. 		//开始发送数据
  343. 		scl = 1;
  344. 		Delay5us();  //数据发送时间
  345. 		
  346. 		scl = 0;  //发送完毕拉低，等待下1bit数据的传输
  347. 		Delay5us();
  348. 		
  349. 		myData = myData << 1;
  350. 	}	
  351. }
  352.  
  353. //OLED写入一条指令
  354. void oledWriteCmd(char writeCmd)
  355. {
  356. 	IIC_start();
  357. 	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
  358. 	IIC_ack();
  359. 	IIC_sendByte(0x00);  //写入命令，D/C位为0
  360. 	IIC_ack();
  361. 	IIC_sendByte(writeCmd);
  362. 	IIC_ack();
  363. 	IIC_stop();
  364. }
  365.  
  366. //OLED写入一个数据
  367. void oledWriteData(char writeData)
  368. {
  369. 	IIC_start();
  370. 	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
  371. 	IIC_ack();
  372. 	IIC_sendByte(0x40);  //写入命令，D/C位为0
  373. 	IIC_ack();
  374. 	IIC_sendByte(writeData);
  375. 	IIC_ack();
  376. 	IIC_stop();
  377. }
  378.  
  379. //OLCD初始化
  380. void oledInit()
  381. {
  382. 	oledWriteCmd(0xAE);
  383. 	oledWriteCmd(0x00);
  384. 	oledWriteCmd(0x10);
  385. 	oledWriteCmd(0x40);
  386. 	oledWriteCmd(0xB0);
  387. 	oledWriteCmd(0x81);
  388. 	oledWriteCmd(0xFF);
  389. 	oledWriteCmd(0xA1);
  390. 	oledWriteCmd(0xA6);
  391. 	oledWriteCmd(0xA8);
  392. 	oledWriteCmd(0x3F);
  393. 	oledWriteCmd(0xC8);
  394. 	oledWriteCmd(0xD3);
  395. 	oledWriteCmd(0x00);
  396. 	oledWriteCmd(0xD5);
  397. 	oledWriteCmd(0x80);
  398. 	oledWriteCmd(0xD8);
  399. 	oledWriteCmd(0x05);
  400. 	oledWriteCmd(0xD9);
  401. 	oledWriteCmd(0xF1);
  402. 	oledWriteCmd(0xDA);
  403. 	oledWriteCmd(0x12);
  404. 	oledWriteCmd(0xDB);
  405. 	oledWriteCmd(0x30);
  406. 	oledWriteCmd(0x8D);
  407. 	oledWriteCmd(0x14);
  408. 	oledWriteCmd(0xAF);
  409. }
  410.  
  411. //OLED清屏函数
  412. void olceClean()
  413. {
  414. 	int i,j;
  415. 	for(i=0;i<8;i++){
  416. 		oledWriteCmd(0xB0 + i);  //选择PAGE
  417. 		//选择PAGE的第0列开始显示
  418. 		oledWriteCmd(0x00);  
  419. 		oledWriteCmd(0x10);
  420. 		for(j = 0;j < 128; j++){
  421. 			oledWriteData(0);  //写入字符0
  422. 		}
  423. 	}
  424. }
  425.  
  426. //OLED显示一个字符
  427. void oledShowByte(char rows,char columns,char oledByte)
  428. { 
  429. 	unsigned int i;
  430.  
  431. 	//显示字符的上半部分
  432. 	oledWriteCmd(0xb0+(rows*2-2));  //选择行
  433. 	//选择列                        
  434. 	oledWriteCmd(0x00+(columns&0x0f));                          
  435. 	oledWriteCmd(0x10+(columns>>4));      
  436. 	//显示数据                       
  437. 	for(i=((oledByte-32)*16);i<((oledByte-32)*16+8);i++){
  438. 		oledWriteData(oledFont[i]);                            
  439. 	}
  440.  
  441.  	//显示字符的上半部分
  442. 	oledWriteCmd(0xb0+(rows*2-1));  //选择行  
  443. 	//选择列                    
  444. 	oledWriteCmd(0x00+(columns&0x0f));                          
  445. 	oledWriteCmd(0x10+(columns>>4)); 
  446. 	//显示数据                           
  447. 	for(i=((oledByte-32)*16+8);i<((oledByte-32)*16+8+8);i++){
  448. 		oledWriteData(oledFont[i]);                            
  449. 	}       
  450. }
  451.  
  452. //OLED显示一个字符串
  453. void oledShowString(char rows,char columns,char *str)
  454. {
  455. 	while(*str != '\0'){
  456. 		oledShowByte(rows,columns,*str);
  457. 		str++;
  458. 		columns += 8;   
  459. 	}       
  460. }
  461.  
  462. //car
  463. //两个电机反转，前进
  464. void goForward()
  465. {
  466. 	left_con1A = 1;
  467. 	left_con2A = 0;
  468. 	
  469. 	right_con1A = 1;	
  470. 	right_con2A = 0;
  471. }
  472.  
  473. //两个电机正转，后退
  474. void goBack()
  475. {
  476. 	left_con1A = 0;
  477. 	left_con2A = 1;
  478. 	
  479. 	right_con1A = 0;	
  480. 	right_con2A = 1;
  481. }
  482.  
  483. //两个电机不转，停止
  484. void goStop()
  485. {
  486. 	left_con1A = 0;
  487. 	left_con2A = 0;
  488. 	
  489. 	right_con1A = 0;	
  490. 	right_con2A = 0;
  491. }
  492.  
  493. //左电机不转，右电机反转，左转
  494. void goLeft()
  495. {
  496. 	left_con1A = 0;
  497. 	left_con2A = 0;
  498. 	
  499. 	right_con1A = 1;	
  500. 	right_con2A = 0;
  501. }
  502.  
  503. //左电机反转，右电机不转，右转
  504. void goRight()
  505. {
  506. 	left_con1A = 1;
  507. 	left_con2A = 0;
  508.  
  509. 	right_con1A = 0;	
  510. 	right_con2A = 0;
  511. }
  512.  
  513. //循迹模式
  514. void tracingMode()
  515. {	
  516. 	if(tracingLeft == 0 && tracingRight == 0){  
  517. 		goForward();
  518. 	}
  519.  
  520. 	if(tracingLeft == 0 && tracingRight == 1){
  521. 		goRight();
  522. 	}
  523.  
  524. 	if(tracingLeft == 1 && tracingRight == 0){
  525. 		goLeft();
  526. 	}
  527.  
  528. 	if(tracingLeft == 1 && tracingRight == 1){
  529. 		goStop();
  530. 	}
  531. }
  532.  
  533. //跟随模式
  534. void followMode()
  535. {	
  536. 	if(followLeft == 0 && followRight == 0){  //
  537. 		goForward();
  538. 	}
  539.  
  540. 	if(followLeft == 0 && followRight == 1){
  541. 		goRight();
  542. 	}
  543.  
  544. 	if(followLeft == 1 && followRight == 0){
  545. 		goLeft();
  546. 	}
  547.  
  548. 	if(followLeft == 1 && followRight == 1){
  549. 		goStop();
  550. 	}
  551. }
  552.  
  553. //避障模式
  554. void avoidMode()
  555. {
  556. 	sg90Middle();
  557.     Delay300ms();
  558.     middleDistance = getDistance();
  559.     if(middleDistance > 35){
  560.         goForward();
  561.     }else{
  562.         goStop();
  563.  
  564.         sg90Left();
  565.         Delay300ms();
  566.         leftDistance = getDistance();
  567.  
  568.         sg90Middle();
  569.         Delay300ms();
  570.  
  571.         sg90Right();
  572.         Delay300ms();
  573.         rightDistance = getDistance();
  574.  
  575.         if(leftDistance < 15 && rightDistance < 15){
  576.             goBack();
  577.             Delay500ms();
  578.             goStop();
  579.         }else{
  580.  
  581.             if(leftDistance > rightDistance){
  582.                 goLeft();
  583.                 Delay500ms();
  584.                 goStop();
  585.             }
  586.  
  587.             if(rightDistance > leftDistance){
  588.                 goRight();
  589.                 Delay500ms();
  590.                 goStop();
  591.             }
  592.         }
  593.     }
  594. }
  595.  
  596. void main()
  597. {
  598. 	int mark = 0;
  599. 	timer0Init();
  600. 	timer1Init();
  601. 	sg90Middle();
  602. 	Delay500ms();
  603. 	oledInit();
  604. 	olceClean();
  605. 	oledShowString(2,5,"haozige");
  606. 	while(1){
  607.  
  608. 		if(A25 == 0 && A26 == 1 && A27 == 1){
  609. 			if(mark != GS){
  610. 				olceClean();
  611. 				oledShowString(2,5,"genshuai");
  612. 			}
  613. 			mark = GS;
  614. 			followMode();	
  615. 		}
  616.  
  617.  
  618. 		if(A25 == 1 && A26 == 0 && A27 == 1){
  619. 			if(mark != BZ){
  620. 				olceClean();
  621. 				oledShowString(2,5,"bizhang");
  622. 			}
  623. 			mark = BZ;
  624. 			avoidMode();	
  625. 		}
  626.  
  627. 		if(A25 == 1 && A26 == 1 && A27 == 0){
  628. 			if(mark != XJ){
  629. 				olceClean();
  630. 				oledShowString(2,5,"xunji");
  631. 			}
  632. 			mark = XJ;
  633. 			tracingMode();	
  634. 		}
  635.  
  636. 	}
  637. }
  638.  
  639. //定时器0的中断函数
  640. void Time0Handler() interrupt 1
  641. {
  642. 	
  643. 	TH0 = 0xFE;
  644. 	TL0 = 0x33;
  645. 	cnt++;
  646. 	//控制占空比
  647. 	if(cnt < angle){
  648. 		sg90 = 1;
  649. 	}else{
  650. 		sg90 = 0;
  651. 	}
  652.  
  653. 	if(cnt == 40){  //每个周期为20ms
  654. 		cnt = 0;
  655. 		sg90 = 1;
  656. 	}
  657. }

 

 

 

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