zhinengxiaoche.rar_zhinengxiaoche_智能小车_轨道_鏅鸿兘灏忚溅

//#include<reg51.h> #include"STC12C5410AD.h" #define unchar unsigned char #define uint unsigned int unchar code seg1[16] ={0x30,0xf9,0x64,0xe0,0xa9,0xa2,0x22,0xf8,0x20,0xa0,0x28,0x23,0x36,0x61,0x26,0x2e};//大模板上 //0,1,2,3,4,5,6,7,8,9,A,b,C,d,e,F unchar code seg2[11] = {0x21,0xf3,0x19,0x51,0xc3,0x45,0x05,0xf1,0x01,0x41,0x84} ;//小模板上 (不带小数点) unchar code seg3[11] = {0x20,0xf2,0x18,0x50,0xc3,0x45,0x04,0xf0,0x00,0x40,0x83} ; //小模板上 (带小数点) unchar code act1[4] = { 0xf7,0xfb,0xfd,0xfe}; //单位选位 unchar code act2[9]={0xfe,0xfc,0xf8,0xf0,0xf1,0xf3,0xf7,0xff}; //用作渐出渐入显示选位 //uint sum=125; uint key ; //按键按下标志（1到6） uint xdata record1[128]; //用于角度传感器的转换 uint xdata record2[128]; //用于按键的转换识别 uint xdata record_v[128] ; //用于电压显示 uint flag ; sbit led = P2^5; sbit m10 = P3^5; sbit m11 = P3^7; sbit m20 = P3^2; sbit m21 = P3^3; sbit right = P1^4; sbit left = P1^5; sbit s0 = P1^0; sbit s1 = P1^1; sbit s2 = P1^2 ; sbit s3 = P1^3; /*延时程序*/ void delay(int k) { int i,j; for(i=0;i<k;i++) for(j=0;j<121;j++) { ; } } /*启动AD转换并返回转换值*/ uint GET_AD_Result() { unchar temp; uint data_temp; data_temp=0; ADC_DATA=0; ADC_LOW2=0; ADC_CONTR|=0x08; re: temp=0x10; temp&=ADC_CONTR; //判断转换是否完成 if(temp==0) goto re; ADC_CONTR&=0xe7; //软件清零 data_temp=ADC_DATA; data_temp<<=2; data_temp+=ADC_LOW2; return data_temp; } /*显示角度值*/ show_r(int h) { int a , b ,i; if(h > 0) { if(h < 10) { for(i = 0; i < 100; i++) { { P1 = act1[2];P2 = seg2[h];delay(5); } { P1 = act1[3]; P2 = 0xc9; delay(5); }//显示“ °” （读数符号） } } else { a = h%10; b =h/10; for(i = 0; i < 150; i++) { { P1 = act1[2]; P2 = seg2[a];delay(5); } { P1 = act1[1]; P2 = seg2[b]; delay(5); } { P1 = act1[3]; P2 = 0xc9; delay(5); } } } } else { h = ~h; if(h < 10) { for(i = 0; i < 150; i++) { { P1 = act1[2];P2 = seg2[h];delay(5); } { P1 = act1[1]; P2 = 0xdf; delay(5); } { P1 = act1[3]; P2 = 0xc9; delay(5); } } } else { a = h%10; b =h/10; for(i = 0; i < 150; i++) { { P1 = act1[2]; P2 = seg2[a];delay(5); } { P1 = act1[1]; P2 = seg2[b]; delay(5); } { P1 = act1[0]; P2 = 0xdf; delay(5); } //显示负号 { P1 = act1[3]; P2 = 0xc9; delay(5); } } } } } /*将转换出来的数据转换成角度值*/ void moto(uint h) { int r ,i,k; r=(h/5)-83; //转换成角度值 show_r(r); //显示角度值 if(flag) { if(r > 0) { { led = 0; m10 = 1; m11 = 0; delay(2000); m10 = 1; m11 = 1; delay(100); /*CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0xff; CCAP0H = 0xff; CCAPM0 = 0x42; CCAP1L = 0x00; CCAP1H = 0x00; CCAPM1 = 0x00; CR = 1; */ flag = 0; } } else if(r < 0) { { led = 1; m10 = 0; m11 = 1; delay(2000); m10 = 1; m11 = 1; delay(100); flag = 0; /*CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0x00; CCAP0H = 0x00; CCAPM0 = 0x00; CCAP1L = 0xff; CCAP1H = 0xff; CCAPM1 = 0x42; CR = 1;*/ } } else { led = 0; m10 = 1; m11 = 1; flag = 0; /*CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0x00; CCAP0H = 0x00; CCAPM0 = 0x00; CCAP1L = 0x00; CCAP1H = 0x00; CCAPM1 = 0x00; CR = 1;*/ } } else { if(r > 3) { { led = 0; m10 = 1; m11 = 0; delay(2000); m10 = 1; m11 = 1; delay(100); /*CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0xff; CCAP0H = 0xff; CCAPM0 = 0x42; CCAP1L = 0x00; CCAP1H = 0x00; CCAPM1 = 0x00; CR = 1; */ flag = 0; } } else if(r < -3) { { led = 1; m10 = 0; m11 = 1; delay(2000); m10 = 1; m11 = 1; delay(100); flag = 0; /*CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0x00; CCAP0H = 0x00; CCAPM0 = 0x00; CCAP1L = 0xff; CCAP1H = 0xff; CCAPM1 = 0x42; CR = 1;*/ } } else { led = 0; m10 = 1; m11 = 1; flag = 0; /*CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0x00; CCAP0H = 0x00; CCAPM0 = 0x00; CCAP1L = 0x00; CCAP1H = 0x00; CCAPM1 = 0x00; CR = 1;*/ } } } /*震动传感器模数转换初始化*/ void init_AD() { uint a,i,j,b,result,sum; uint aa[15]; unchar k; record1[k]=0; delay(10); ADC_CONTR|=0x80; //开ADC电源 P1M0=0xb0; // 将P1.7口设为开漏模式 P1M0 = 1000 0000 （11 开漏 ； 10 高阻 ；01 推挽输出 ；00 普通） // P1M1 = 1000 0000 上下共同表示 P1M1=0xb0; //ADC_CONTR&=0xf8; // ADC_CONTR|=0x07; //设置P1.7口为ADC转换口 ADC_CONTR=0xe7; for(i = 0; i < 15; i++) { for(k=0;k<128;k++) { record1[k]=GET_AD_Result();//启动ADC并保存结果 } aa[i++] = record1[k]; //shujvchuli(result); //shujvchuli2(record1[k]); } for(i = 0; i < 15 ; i++) for(j = 0; j < (15 - j); j++) { if(aa[j] > aa[j+1]) a = aa[j]; aa[j] = aa[j+1]; aa[j+1] = a; } for(i = 1; i < 13; i++) sum = sum + aa[i]; result = sum/13; moto(result); } /*转向*/ void turn() { if(right == 0) { led = 0; CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0x00; CCAP0H = 0x00; CCAPM0 = 0x00; CCAP1L = 0xf3; CCAP1H = 0xf3; CCAPM1 = 0x42; CR = 1; } else if(left == 0) { led = 0; CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0xf3; CCAP0H = 0xf3; CCAPM0 = 0x42; CCAP1L = 0x00; CCAP1H = 0x00; CCAPM1 = 0x00; CR = 1; } else { led = 1; CMOD = 0x02; CL = 0x00; CH = 0x00; CCAP0L = 0x00; CCAP0H = 0x00; CCAPM0 = 0x42; CCAP1L = 0x00; CCAP1H = 0x00; CCAPM1 = 0x00; CR = 1; } } void main() { //delay(4000); turn(); //init_AD(); }