迷宫小车代码

#include<reg52.h> #include<intrins.h> #include<math.h> #define uchar unsigned char #define uint unsigned int sbit P14=P1^4; sbit P15=P1^5; sbit P16=P1^6; sbit P17=P1^7; //电机口 sbit RS=P2^0; //液晶控制口 sbit RW=P2^1; sbit E=P2^2; sbit P25=P2^5; //循迹口 sbit P26=P2^6; sbit P27=P2^7; sbit P10=P1^0; //壁障口 sbit P11=P1^1; sbit P12=P1^2; sbit SS=P3^7; //语音控制口 sbit SCLK=P3^6; sbit MOSI= P3^1; sbit MISO =P3^0; uchar SR0_L; uchar SR0_H; uchar SR1; uchar c[8],dr,p,m,n,temp,d[4]={'T','i','m','e'},yy; uint zz; void delay1(uint z) //延时 z ms { uint i,j; for(i=z;i>0;i--) for(j=110;j>0;j--); } // ++++++++语音控制程序+++++++++++++ void delay() { uchar i; for(i=0;i<8;i++) _nop_(); } void delayms( uint tt) { uchar j; while(tt--) { for(j=0;j<125;j++);} } uchar Senddata(uchar cmd) { uchar i,dat=cmd; SCLK=1; // 悬空 SS=0; for(i=0;i<8;i++){ SCLK=0; delay(); if(dat&0x01){MOSI=1;} else{MOSI=0;} dat>>=1; if(MISO){dat|=0x80;} SCLK=1; delay(); } MOSI=0; return(dat); } void ISD_Reset(void) //复位 { Senddata(0x03); Senddata(0x00); SS=1; delayms(50) ; } void ISD_PU(void)//上电 { Senddata(0x01); Senddata(0x00); SS=1; delayms(50); } void RdStatus(void)// 读取状态 { Senddata(0x05); Senddata(0x00); Senddata(0x00); SS=1; delayms(10);//延迟10ms SR0_L =Senddata(0x05); SR0_H =Senddata(0x00); SR1 =Senddata(0x00); SS=1; delayms(10); } void ClrInt(void)// 清除中断 { Senddata(0x04); Senddata(0x00); SS=1; delayms(10);//延迟10ms } void SetPLAY(uchar Add_ST_H, Add_ST_L, Add_ED_H, Add_ED_L)//定点播放 { do{ RdStatus(); }while((SR0_L&0x01)||(!(SR1&0x01))); //if(SR0_L^0==1){system Err}<CMD_ERR==1> ClrInt(); Senddata(0x90); Senddata(0x00); Senddata(Add_ST_L); //S7:S0 开始地址 Senddata(Add_ST_H); //S10:S8 Senddata(Add_ED_L); //E7:E0 结束地址 Senddata(Add_ED_H); //E10:E8 Senddata(0x00); SS=1; delayms(10); //延迟10ms do{RdStatus();}while((SR0_L&0x01)||((SR1&0x04))); } void fun3() //语音控制 报时间 { uchar e,ee; if(zz==1) { TR0=0; ISD_Reset(); //语音控制部分 ISD_PU(); delayms(50); SetPLAY(0x00,0x85,0x00,0x8d); //总共行驶时间 switch(c[2]) //读分的个位 { case 0: ee=1;break; case 1: SetPLAY(0x00,0x15,0x00,0x1a),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 2: SetPLAY(0x00,0x1b,0x00,0x1f),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 3: SetPLAY(0x00,0x20,0x00,0x25),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 4: SetPLAY(0x00,0x26,0x00,0x2b),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 5: SetPLAY(0x00,0x2c,0x00,0x31),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 6: SetPLAY(0x00,0x32,0x00,0x36),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 7: SetPLAY(0x00,0x37,0x00,0x3c),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 8: SetPLAY(0x00,0x3d,0x00,0x40),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; case 9: SetPLAY(0x00,0x41,0x00,0x46),SetPLAY(0x00,0x50,0x00,0x58),ee=1;break; } if(ee==1) { switch(c[1]) //读秒十位 { case 0:e=1;break; case 1:SetPLAY(0x00,0x15,0x00,0x1a),SetPLAY(0x00,0x6b,0x00,0x73),e=1;break; case 2:SetPLAY(0x00,0x1b,0x00,0x1f),SetPLAY(0x00,0x6b,0x00,0x73),e=1;break; case 3:SetPLAY(0x00,0x20,0x00,0x25),SetPLAY(0x00,0x6b,0x00,0x73),e=1;break; case 4:SetPLAY(0x00,0x26,0x00,0x2b),SetPLAY(0x00,0x6b,0x00,0x73),e=1;break; case 5:SetPLAY(0x00,0x2c,0x00,0x31),SetPLAY(0x00,0x6b,0x00,0x73),e=1;break; default:break; } ee=0; } if(e==1) { switch(c[0]) //读出秒的个位 { case 1:SetPLAY(0x00,0x15,0x00,0x1a);break; //1 case 2:SetPLAY(0x00,0x1b,0x00,0x1f);break; //2 case 3:SetPLAY(0x00,0x20,0x00,0x25);break; //3 case 4:SetPLAY(0x00,0x26,0x00,0x2b);break; //4 case 5:SetPLAY(0x00,0x2c,0x00,0x31);break; //5 case 6:SetPLAY(0x00,0x32,0x00,0x36);break; //6 case 7:SetPLAY(0x00,0x37,0x00,0x3c);break; //7 case 8:SetPLAY(0x00,0x3d,0x00,0x40);break; //8 case 9:SetPLAY(0x00,0x41,0x00,0x46);break; //9 default:break; } e=0; } SetPLAY(0x00,0x62,0x00,0x6a); } } //+++++++++++++++++++++++++++++++++++++++++++++ //+++++++++液晶显示模块+++++++++++++++ void zhiling(uchar a) //写命令 { E=0;RS=0;RW=0; E=1; P0=a; delay1(5); //延时 5ms E=0; delay1(5); //延时 5ms } void shuju(uchar b) //写数据 { E=0;RS=1;RW=0; E=1; P0=b; delay1(5); //延时 5ms E=0; delay1(5); //延时 5ms } void init() //初始化 { zhiling(0x01); //清屏 zhiling(0x38); //功能设置 zhiling(0x0e); //开/关显示设置 zhiling(0x06); //输入方式设置 } //+++循迹子程序++++++++++++++++++++ void fun1() //循迹子程序 { if(P25==1&&P26==0&&P27==1) //直走 P11是车前 P10 是车后 dr=1; if(P25==0&&P26==1&&P27==1) //左拐 dr=2; if(P25==1&&P26==1&&P27==0) //右拐 dr=3; if(P10==0||P11==0) //进入壁障标志口 dr=4; switch(dr) { case 1:P14=0,P15=1,P16=0,P17=1;break; //直走 case 2:P14=1,P15=0,P16=0,P17=1;break; // 左拐 case 3:P14=0,P15=1,P16=1,P17=0;break; // P14,P15,控制左电机 case 4:yy=1; } } void fun2() //壁障子程序 { if(P10==0&&P11==1&&P12==0) // 两边测 直走 { P14=0,P15=1,P16=0,P17=1; } if(P10==0&&P11==0&&P12==1) // 左中测 右走 { P14=1,P15=0,P16=0,P17=1; delay1(1000); } if(P10==1&&P11==0&&P12==0) //右中测 左走 { P14=0,P15=1,P16=1,P17=0; delay1(1000); } if(P10==0&&P11==0&&P12==0) //全测到 直走 { P14=0,P15=1,P16=0,P17=1,delay1(20); } if(P10==0&&P11==1&&P12==1) { P14=0,P15=1,P16=0,P17=1; } if(P10==1&&P11==1&&P12==0) { P14=0,P15=1,P16=0,P17=1; } if(P25==0&&P26==0&&P27==0) //车停 { P14=1,P15=1,P16=1,P17=1;zz++;TR0=0;TR1=0; } } void main() { char i; TMOD=0x11; // 打开定时器和计数器 TH1=0X3c; //1ms fc18 TL1=0Xb0; TH0=0XD8; //显示 TL0=0XF0; EA = 1; ET1=1; TR1 = 1; ET0=1; TR0 = 1; init(); zhiling(0x80); //第一行 for(i=0;i<4;i++) shuju(d[i]); shuju(' '); shuju('1'); shuju(':'); while(1) { P14=1; P15=1; P16=1; P17=1; zhiling(0x80+0x08); //第一次前进时间 shuju(c[3]+'0'); //十分 shuju(c[2]+'0'); //分 shuju(':'); shuju(c[1]+'0'); //十秒 shuju(c[0]+'0'); //秒 fun3();//语音子程序 } } void timer1() interrupt 3 //中断 服务程序 T1 { TH1=0X3c; TL1=0Xb0; if(yy==0) fun1(); else fun2(); } void time0_int(void) interrupt 1 //显示中断 T0 { TH0=0XD8; TL0=0XF0; p++; if(p==130) { if(m==60) { n++; m=0; } m++; c[3]=n%100/10; //十分 前进时间显示 c[2]=n%1000%100%10; //分 c[1]=m%100/10; //十秒 c[0]=m%1000%100%10; //秒 p=0; } }