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51单片机智能小车

news 来源：原创 2024/5/9 19:35:16

51单片机智能小车

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);
}

delay.h

#ifndef _DELAY_H
#define _DELAY_Hvoid Delay2000ms();		//@11.0592MHz
void Delay10us();		//@11.0592MHz
void Delay150ms();
void Delay450ms();	
void Delay300ms();#endif

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/2return  (time * 0.017);
}

hc04.h

#ifdenf _HC04_H
#define _HC04_Hdouble get_distance();
void Time1Init();#endif

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;
}

motor.h

#ifndef _MOTOR_H
#define _MOTOR_Hvoid goRight();
void goLeft();
void goForward();
void goBack();
void stop();#endif

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 0x78IIC_Send_Byte(0x78);//	3. ACKIIC_ACK();//	4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据IIC_Send_Byte(0x00);//	5. ACKIIC_ACK();//6. 写入指令/数据IIC_Send_Byte(dataCmd);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Write_Data(char dataData)
{//	1. start()IIC_Start();//		//	2. 写入从机地址  b0111 1000 0x78IIC_Send_Byte(0x78);//	3. ACKIIC_ACK();//	4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据IIC_Send_Byte(0x40);//	5. ACKIIC_ACK();///6. 写入指令/数据IIC_Send_Byte(dataData);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Init(void){Oled_Write_Cmd(0xAE);//--display offOled_Write_Cmd(0x00);//---set low column addressOled_Write_Cmd(0x10);//---set high column addressOled_Write_Cmd(0x40);//--set start line address  Oled_Write_Cmd(0xB0);//--set page addressOled_Write_Cmd(0x81); // contract controlOled_Write_Cmd(0xFF);//--128   Oled_Write_Cmd(0xA1);//set segment remap Oled_Write_Cmd(0xA6);//--normal / reverseOled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)Oled_Write_Cmd(0x3F);//--1/32 dutyOled_Write_Cmd(0xC8);//Com scan directionOled_Write_Cmd(0xD3);//-set display offsetOled_Write_Cmd(0x00);//Oled_Write_Cmd(0xD5);//set osc divisionOled_Write_Cmd(0x80);//Oled_Write_Cmd(0xD8);//set area color mode offOled_Write_Cmd(0x05);//Oled_Write_Cmd(0xD9);//Set Pre-Charge PeriodOled_Write_Cmd(0xF1);//Oled_Write_Cmd(0xDA);//set com pin configuartionOled_Write_Cmd(0x12);//Oled_Write_Cmd(0xDB);//set VcomhOled_Write_Cmd(0x30);//Oled_Write_Cmd(0x8D);//set charge pump enableOled_Write_Cmd(0x14);//Oled_Write_Cmd(0xAF);//--turn on oled panel		
}void Oled_Clear()
{unsigned char i,j; //-128 --- 127for(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*2-2unsigned int  i;Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0Oled_Write_Cmd(0x00+(col&0x0f));                          //lowOled_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 1Oled_Write_Cmd(0x00+(col&0x0f));                          //lowOled_Write_Cmd(0x10+(col>>4));                            //highfor(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

#ifndef _OLED_H
#define _OLED_Hvoid 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);#endif

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EAEA = 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20mscnt = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1ssg90_con = 1;}}

sg90.h

#ifndef _SG90_H
#define _SG90_Hvoid Time0Init();
void sgMiddle();
void sgRight();
void sgLeft();#endif

Oledfont.h


const unsigned char code F8X16[]=	  
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 00x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 10x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 20x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 30x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 40xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 50x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 60x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 70x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 80x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 90x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 100x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 110x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 120x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 130x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 140x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 150x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 160x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 170x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 180x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 190x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 200x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 210x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 220x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 230x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 240x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 250x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 260x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 270x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 280x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 290x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 300x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 310xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 320x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 330x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 340xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 350x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 360x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 370x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 380xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 390x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 400x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 410x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 420x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 430x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 440x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 450x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 460xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 470x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 480xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 490x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 500x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 510x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 520x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 530x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 540xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 550x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 560x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 570x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 580x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 590x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 600x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 610x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 620x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 630x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 640x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 650x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 660x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 670x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 680x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 690x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 700x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 710x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 720x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 730x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 740x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 750x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 760x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 770x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 780x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 790x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 800x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 810x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 820x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 830x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 840x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 850x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 860x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 870x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 880x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 890x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 900x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 910x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 920x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 930x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};

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 3sbit 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();}}
}