基于STM32的智能控制小车程序(仅含源代码+毕业设计).rar

/*connect us: Web:https://sites.google.com/site/journeybuaa/ Email:stingshen1@gmail.com */ #include <reg52.h> #include "matrix.c" #include "1602lcd.c" #include "ser.c" #define uchar unsigned char #define uint unsigned int sbit lsen = P2^3; sbit rsen = P2^4; //sbit p10 = P1^0; uchar oldstate = 4,state; uchar tmFlag, stopwatch = 0, serRcved,tmFlag1; void main() { ser_init(); lcd_init(); // putstr("Hello"); lcddelay(10); lcd_pos(0x40); lcddelay(10); lcd_putstr(" 00 00 00 00"); TH0 = 0x00; TL0 = 0x00; TH2 = 0x4c; TL2 = 0x00; RCAP2H = 0x4c; RCAP2L = 0x00; stopwatch = 0; ET0 = 0; TR0 = 0; /******第一项******/ while(scanmtx() == -1); putchar(0x0c); while(serRcved != 0x01); ET2 = 1; TR2 = 1; while(serRcved != 0x02) { if(!tmFlag) { lcddelay(10); lcd_pos(0x42); lcddelay(10); lcd_wdat(stopwatch/10 + 48); lcddelay(10); lcd_wdat(stopwatch%10 + 48); } } serRcved = 0x00; TR2 = 0; TH2 = 0x4c; TL2 = 0x00; tmFlag = 0; stopwatch = 0; // while(serRcved != 0x01); // TR2 = 1; // while(serRcved != 0x02) // { // if(!tmFlag) // { // lcddelay(10); // lcd_pos(0x4b); // lcddelay(10); // lcd_wdat(stopwatch/10 + 48); // lcddelay(10); // lcd_wdat(stopwatch%10 + 48); // } // } // TR2 = 0; // serRcved = 0; /***第二项***/ // while(scanmtx() == -1); // putchar(0x0c); serRcved = 0x00; TR2 = 0; TH2 = 0x4c; TL2 = 0x00; tmFlag = 0; stopwatch = 0; while(serRcved != 0x01); ET0 = 1; TR0 = 1; TR2 = 1; while(serRcved != 0x02) { if(!tmFlag) { lcddelay(10); lcd_pos(0x45); lcddelay(10); lcd_wdat(stopwatch/10 + 48); lcddelay(10); lcd_wdat(stopwatch%10 + 48); lcddelay(10); } if(serFlag) { serFlag = 0; switch(serRcved) { case '9': lcd_pos(3); lcddelay(10); lcd_putstr("R:L"); break; case 'a': lcd_pos(3); lcddelay(10); lcd_putstr("R:R"); break; case 'b': lcd_pos(3); lcddelay(10); lcd_putstr("R:B"); default: break; } // lcd_pos(40); // lcd_putstr("Suc "); } if(!lsen) { state = 1; } else if(!rsen) { state = 2; } else { state = 3; } if(state != oldstate) { oldstate = state; putchar(0x55); putchar(0xaa); putchar(0x01); putchar(0x01); putchar(0x08 + state); switch(state) { case 1: lcd_pos(0); lcddelay(10); lcd_putstr("Le"); break; case 2: lcd_pos(0); lcddelay(10); lcd_putstr("Ri"); break; case 3: lcd_pos(0); lcddelay(10); lcd_putstr("Ba"); break; } //putchar(state); } } TR0 = 0; serRcved = 0x00; TR2 = 0; TH2 = 0x4c; TL2 = 0x00; tmFlag = 0; tmFlag1 = 0; stopwatch = 0; /********第三阶段*******/ while(serRcved != 0x01); TR2 = 1; while(serRcved != 0x02) { if(!tmFlag) { lcddelay(10); lcd_pos(0x48); lcddelay(10); lcd_wdat(stopwatch/10 + 48); lcddelay(10); lcd_wdat(stopwatch%10 + 48); } } serRcved = 0; TR2 = 0; TH2 = 0x4c; TL2 = 0x00; tmFlag = 0; stopwatch = 0; /********第四阶段*********/ while(serRcved != 0x01); TR2 = 1; while(serRcved != 0x02) { if(!tmFlag) { lcddelay(10); lcd_pos(0x4b); lcddelay(10); lcd_wdat(stopwatch/10 + 48); lcddelay(10); lcd_wdat(stopwatch%10 + 48); } } serRcved = 0; TR2 = 0; TH2 = 0x4c; TL2 = 0x00; tmFlag = 0; stopwatch = 0; while(1); } void tm2() interrupt 5 { TF2 = 0; if(++tmFlag == 40) { // p10 = ~p10; tmFlag = 0; stopwatch++; } } void tm0() interrupt 1 { TH0 = 0x00; TL0 = 0x00; if(++tmFlag1 == 40) { // p10 = ~p10; tmFlag1 = 0; putchar(0x55); putchar(0xaa); putchar(0x01); putchar(0x01); putchar(0x08 + state); } } //void lzhe() interrupt 0 //{ // EX0 = 0; // putstr("lzhe"); // EX0 = 1; //} //void rzhe() interrupt 2 //{ // EX1 = 0; // putstr("rzhe"); // EX1 = 1; //}