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基于C51语音控制小车

news 来源：原创 2024/5/20 22:59:59

前期准备：

SU-03T

电机模块

循迹小车原理

跟随小车/壁障小车

超声波测距

SG90舵机开发

舵机基本介绍

项目

前期准备：

SU-03T

网盘资料

https://pan.baidu.com/s/1dXQSla_8D5O3D7UCsHZ0Dw 提取码 3k5a

这个语音模块不需要编程，不需要二次开发

通过厂家给的网站配置后即可使用，傻瓜式操作，

把A25 26 27设置为高电平

通过接入C51串口来查看高低电压，进行语音控制

电机模块

L9110s 概述

IA1 输入高电平， IA1 输入低电平，【 OA1 OB1 】电机正转；

IA1 输入低电平， IA1 输入高电平，【 OA1 OB1 】电机反转；

IA2 输入高电平， IA2 输入低电平，【 OA2 OB2 】电机正转；

IA2 输入低电平， IA2 输入高电平，【 OA2 OB2 】电机反转；

和上官一号的接线

循迹模块

TCRT5000传感器的红外发射二极管不断发射红外线

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，

红外接收管一直处于关断状态，此时模块的输出端为高电平，指示二极管一直处于熄灭状态

被检测物体出现在检测范围内时，红外线被反射回来且强度足够大，红外接收管饱和，

此时模块的输出端为低电平，指示二极管被点亮

总结就是一句话，没反射回来， D0 输出高电平 ，灭灯

接线方式

VCC: 接电源正极（ 3-5V ）

GND: 接电源负极

DO:TTL 开关信号输出 0 、 1

AO: 模拟信号输出 ( 不同距离输出不同的电压，此脚一般可以不接）

循迹小车原理

由于黑色具有较强的吸收能力，当循迹模块发射的红外线照射到黑线时，红外线将会被黑线吸收，导致循迹模块上光敏三极管处于关闭状态，此时模块上一个LED 熄灭。在没有检测到黑线时，模块上两个 LED 常亮

总结就是一句话，有感应到黑线， D0 输出高电平 ，灭灯

循迹模块安装在小车车头两侧下方小车两个模块都能反射回来红外，输出低电平，灯亮，直走

上方小车左模块遇到黑线，红外被吸收，左模块输出高电平，右模块输出低电平，左转，反之右转

跟随小车/壁障小车

红外壁障模块分析

原理和寻线是一样的，寻线红外观朝下，跟随朝前

跟随小车的原理

左边跟随模块能返回红外，输出低电平，右边不能返回，输出高电平，说明物体在左边，需要左转

右边跟随模块能返回红外，输出低电平，左边不能返回，输出高电平，说明物体在右边，需要右转

超声波测距

测距原理基本说明

超声波测距模块是用来测量距离的一种产品，通过发送和收超声波，利用时间差和声音传播速度，
计算出模块到前方障碍物的距离

型号：HC-SR04
接线参考：模块除了两个电源引脚外，还有TRIG，ECHO引脚

怎么让它发波
Trig，给Trig端口至少10us的高电平

怎么知道开始发了
Echo信号，由低电平跳转到高电平，表示开始发送波

怎么知道接收了返回波
Echo，由高电平跳转回低电平，表示波回来了

怎么算时间
Echo引脚维持高电平的时间！
波发出去的那一下，开始启动定时器
波回来的拿一下，我们开始停止定时器，计算出中间经过多少时间

怎么算距离
距离=速度（340m/s）*时间/2

时序

SG90舵机开发

舵机基本介绍

如下图所示，最便宜的舵机sg90，常用三根或者四根接线，黄色为PWM信号控制用处：垃圾桶项目开盖
用、智能小车的全比例转向、摄像头云台、机械臂等
常见的有0-90°、0-180°、0-360°

怎么控制转角

向黄色信号线“灌入”PWM信号。
PWM波的频率不能太高，50hz，即周期=1/频率=1/50=0.02s，20ms左右数据：
不同的PWM波形对应不同的旋转角度，以20ms为周期，50hz为频率的PWM波

项目

motor.c文件

#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;
}

motor.h文件

void goRight();
void goLeft();
void goForward();
void goBack();
void stop();

delay.c文件

#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);
}

delay.h文件

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

hc04.c文件

#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);
}

hc04.h文件

double get_distance();
void Time1Init();

Oled.c文件

#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
    }       
}
 
 
/******************************************************************************/
// 函数名称：Oled_Show_Char 
// 输入参数：oledChar 
// 输出参数：无 
// 函数功能：OLED显示单个字符
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){
    while(*str!=0){
        Oled_Show_Char(row,col,*str);
        str++;
        col += 8;   
    }       
}

Oled.h文件

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);

sg90.c文件

#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;
    }
         
}

sg90.h文件

void Time0Init();
 
 
void sgMiddle();
 
void sgRight();
 
 
void sgLeft();

Oledfont.h文件

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
};

main.c文件

#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
#define ST 4
 
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 > 45){
            //前进
            goForward();
        }else if(disMiddle < 15){
            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 != BZ){
                Oled_Clear();
                Oled_Show_Str(2,2,"-----Bizhang----");
            }
            mark = BZ;
            bizhangMode();
        }
        //满足避障模式的条件
        if(A25 == 1 && A26 == 1 && A27 == 0){
            if(mark != GS){
                Oled_Clear();
                Oled_Show_Str(2,2,"-----GenSui----");
            }
            mark = GS;
            gensuiMode();
        }
				if(A25 == 0 && A26 == 0 && A27 == 0){
            if(mark != ST){
                Oled_Clear();
                Oled_Show_Str(2,2,"-----Stop-----");
            }
            mark = ST;
            stop();
        }
     
    }
}