#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
#define LCD_data P0
sbit trig=P2^0;//超声波发射引脚
sbit echo=P2^1;//超声波接收引脚
sbit rs=P2^5;
sbit rw=P2^6;
sbit e=P2^7;
sbit psb=P3^0;
sbit s1=P2^2;//功能键
sbit s2=P2^3;//增加占空比
sbit s3=P2^4;//减少占空比
sbit s4=P3^2;//功能键 用于开启或关闭键盘扫描
sbit ENA=P1^0;
sbit IN1=P1^1;
sbit IN2=P1^2;
sbit IN3=P1^3;
sbit IN4=P1^4;
sbit ENB=P1^5;
sbit D0=P3^3;
sbit D1=P3^4;
sbit D2=P3^5;
sbit D3=P3^6;
sbit trackl=P1^6;//循迹模块
sbit trackr=P1^7;
uchar s1num,i,flag,t1;
uint time,sss,pwml,pwmr;
uchar code table1[]=" 超声波 CM";// 13
uchar code table2[]=" PWM"; //9
uchar code table3[]=" 左轮 右轮";
uchar code table4[]=" 00 00";
uchar code table5[]=" 欢迎使用";
uchar code table6[]=" 智能小车";
uchar code table7[]=" 叶吴张组";
uchar code table8[]=" 请选择模式";
uchar code table9[]=" A:循迹模式";
uchar code table10[]=" B:跟随模式";
uchar code table11[]=" C:避障模式";
uchar code table12[]="跟随距离为50cm";
uchar code table13[]=" ";
uchar code MCU[]={
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
