1、多功能小車程序成旺榮2015-4-6/main.c#include"allhead.h"#define uchar unsigned char#define uint unsigned intfloat dis=0; /原始距離int distance=0; /距離整數(shù)char changeint4='0','1','2','3'void main() maininit(); /全部初始化 while(1) / beer=0; dis=MeasureDistance(); /測(cè)量距離 distance=(int

2、)(dis*1); /單位mm disapple(distance); /數(shù)碼管顯示 change_int_to_char(distance); /把距離變成四位字符 send_and_control(); /發(fā)送距離的四位字符 Car(s1,s2);delayms(10); /mainint.c初始化#include"allhead.h" void maininit() s1=0; s2=0; SCON=0X50;/設(shè)置串口工作方式 為工作方式1 包含SM0 SM1 SM2 REN 0101 0000 / SM0=0; /SM1=1; /REN=1; PCON=0X80;

3、/波特率加倍 TMOD=0X21; /計(jì)時(shí)器0工作1，計(jì)時(shí)器1工作2 TH0=0; /計(jì)數(shù)器0 TL0=0; TH1=0XFA; /計(jì)數(shù)器1初始值設(shè)置，注意波特率是9600的 TL1=0XFA; IT0=1; /下降沿觸發(fā) EX0=1;/開(kāi)外部中斷 ET0=1; /開(kāi)定時(shí)器0中斷 TR0=0; /未打開(kāi)計(jì)數(shù)器 ES=1;/打開(kāi)接收中斷 EA=1; /開(kāi)總中斷 TR1=1; /打開(kāi)計(jì)數(shù)器 /hc04.c藍(lán)牙模塊#include"allhead.h" #include"main.h"unsigned char flag; char receiveData;

4、/藍(lán)牙接收數(shù)據(jù) void sendout() int i;for(i=0;i<4;i+) SBUF=changeinti;while(!TI); /等待發(fā)送數(shù)據(jù)完成TI=0; /清除發(fā)送完成標(biāo)志位for(i=0;i<2;i+)SBUF='m'while(!TI); /等待發(fā)送數(shù)據(jù)完成TI=0;SBUF='n'while(!TI); /等待發(fā)送數(shù)據(jù)完成TI=0; /* 函 數(shù) 名 :Usart() interrupt 4* 函數(shù)功能 : 中斷輸入函數(shù)* 輸 入 : 無(wú)* 輸 出 : 無(wú)*/void Usart() interrupt 4 int i;/

5、char receiveData; /藍(lán)牙接收數(shù)據(jù)receiveData=SBUF; /出去接收到的數(shù)據(jù)RI = 0; /清除接收中斷標(biāo)志位flag=1;/eat.c超聲波模塊#include"allhead.h"float i=0.0;float MeasureDistance() TH0=0; TL0=0;Echo=0; Trig=1; /延時(shí) Delay10us(); Trig=0; while(Echo=0); TR0=1; delayms(20); return (i);void counter0(void)interrupt 0 TR0=0; i=(float)

6、TH0*256+(float)TL0)*0.17; /距離，返回值為mm值 TH0=0; TL0=0; if(i<300) beer=1; delayms(1); beer=0; delayms(5); void Timer0()interrupt 1 /send_and_control.c輸出與控制#include"allhead.h"unsigned int s1,s2;void send_and_control() if(distance<300) s1=2; if(flag=1) ES=0;switch (receiveData) case '1

7、': s1=1; break; /前進(jìn) case '2': s1=2; break; /后退case '3': s1=3; break; /左拐 case '4': s1=4; break; /右拐 case '5': s1=5; break;/后退 case '6' : s2+=5; if(s2>=30)s2=0; break; /減速case '7' : s2-=5; if(s2<=0)s2=10; break; /加速 case '8' : sendout(

8、); break; /case default : s1=5; break; /switchES=1; flag=0; /if/car.c#include"allhead.h"void Car(unsigned int c,unsigned int d) switch (c) case 1: Go(); delayms(10);Stop();delayms(d); Go(); break; case 2: Back(); delayms(10);Stop();delayms(d); Back(); break; case 3: Turn_left(); delayms(5)

9、;Stop();delayms(10); Turn_left(); break; case 4: Turn_Right(); delayms(5);Stop();delayms(10); Turn_Right();break; case 5: Stop(); break; void Turn_left(void) IN1=0; IN2=0; IN3=1; IN4=0;void Turn_Right(void) IN1=1; IN2=0; IN3=0; IN4=0;void Go(void) IN1=1; IN2=0; IN3=1; IN4=0;void Back(void) IN1=0; IN

10、2=1; IN3=0; IN4=1;void Stop(void) IN1=0; IN2=0; IN3=0; IN4=0;/displayable.c數(shù)碼管顯示#include"allhead.h"/*/-定義全局變量-/unsigned char code DIG_PLACE8 = 0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f;/位選控制 查表的方法控制unsigned char code DIG_CODE17 = 0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x7c,0x

11、39,0x5e,0x79,0x71;/0、1、2、3、4、5、6、7、8、9、A、b、C、d、E、F的顯示碼*/unsigned char code DIG_PLACE4 = /*0x01,0x02,0x04,0x08*/0xfe,0xfd,0xfb,0xf7;unsigned char code DIG_CODE17 = 0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71;/0、1、2、3、4、5、6、7、8、9、A、b、C、d、E、F的顯示碼 /共陰極unsigned char DisplayData4;/用來(lái)存放要顯示的4位數(shù)的值int apple4=0;/* 函 數(shù) 名 : disapple* 函數(shù)功能 : 轉(zhuǎn)換函數(shù)* 輸 入 : 無(wú)* 輸 出 : 無(wú)*/void disapple(int j)unsigned char i;unsigned int k;int a1,a2,a3,a4;a1=j/1000;a2=(j%1000)/100;a3=(j%100)/10;a4=j%10; apple0=a1;apple1=a2;apple2=a3;apple3=a4;DisplayData0=DIG_CODEa1;DisplayData