毕业设计_完整智能小车(4)

附录：

#include #include \

#define uchar unsigned char #define ulong unsigned long #define uint unsigned int

int zkb1=2,zkb2=2; sbit P13=P2^4; sbit P14=P2^1; sbit CSOut=P1^6;

sbit RS = P2^6; sbit EN = P2^7; sbit LEDL=P1^4; sbit LEDR=P3^1; sbit BELL=P1^5; sbit TEST=P3^0; sbit keyD=P3^4; sbit keyC=P3^5; sbit keyB=P3^6; sbit keyA=P3^7; sbit kk=P3^0;

long int all=0,aa=0,an; ulong DATA,cc,bb; xdata uchar num=0,num1=0,miao1=0,fen1=0,miao2=0,fen2=0,YY1=0,YY2=0,dis=50,i,d,t,jj,h,mod,u,fen=0,miao=0,sj=0,g,j,temp=0,avg=0,j0=0,j1=0,j2=0,j3=0,K,m=0,click=0,a[48],b[4],bcd_dis[4],acd_dis[6],ccd_dis[3];

uchar code FFW[8]={0xfe,0xfc,0xfd,0xf9,0xfb,0xf3,0xf7,0xf6}; //反转 uchar code FFZ[8]={0xf6,0xf7,0xf3,0xfb,0xf9,0xfd,0xfc,0xfe}; //正转 uchar code table1[]=%uchar code table3[]=%uchar code table5[]=%uchar code table2[]=%uchar code table4[]=%uchar code table6[]=%uchar code table7[]=%uchar code table8[]=%uchar code table9[]=%uchar code table0[]=\

void CCOut(void) {

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TH0=0; TL0=0; TR0=1; //40KHz

CSOut=0;//1

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_(); CSOut=1;

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();

CSOut=0;//2

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_(); CSOut=1;

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();

CSOut=0;//3

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_(); _nop_(); CSOut=1;

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();

CSOut=0;//4

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_(); CSOut=1;

_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_(); }

void delayns(uint xms) {

uint a,b;

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for(a=0;a

void writecom(uchar com) {

RS=0; P0=com; delayns(1); EN=1;

delayns(1); EN=0; }

void writedata(uchar data11) {

RS=1;

P0=data11; delayns(1); EN=1;

delayns(1); EN=0; }

void initlcd() {

EN=0;

writecom(0x38); writecom(0x0c); writecom(0x06); writecom(0x01); }

void ACD(ulong b) {

acd_dis[0]=b/10000+0x30; acd_dis[1]=b/1000+0x30; acd_dis[2]=b/100+0x30; acd_dis[3]=b/10+0x30; acd_dis[4]=b+0x30; acd_dis[5]=0x00; }

void BCD(ulong b)

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{

bcd_dis[0]=b/100+0x30; bcd_dis[1]=b/10+0x30; bcd_dis[2]=b+0x30; bcd_dis[3]=0x00; }

void CCD(ulong b) {

ccd_dis[0]=b/10+0x30; ccd_dis[1]=b+0x30; ccd_dis[2]=0x00; }

void init(void) {

TMOD=0x11;//T0定时器方式1 T2CON=0X00; TH1=0Xff; TL1=0Xf6;

TH2=(65536-45872)/256; TL2=(65536-45872)%6; TH0=0; TL0=0; TR1=1; TR2=1;

IT0=1;//INT0负边沿触发 IT1=1;

IP=0x01;//INT0高优先级 ET1=1; ET2=1; EX1=1; EX0=1;

EA=1;//开总中断 }

void LCD_DISP(unsigned char string[]) {

int i=0;

while(string[i]) {

writedata(string[i++]); delayns(1); } }

void Receive(void) interrupt 0

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{

TR0=0; EX0=0; }

void t1() interrupt 3 {

TR1=0; ++click;

if(click>100)click=0; if(click<=zkb1)P13=0; else P13=1;

if(click<=zkb2)P14=0; else P14=1; TH1=0Xff; TL1=0XF6; TR1=1; }

void int1() interrupt 2 {

bb++; }

void t2() interrupt 5 {

TF2=0; sj++;

if(sj==20) {

sj=0; miao++;

if(miao==60) {

miao=0; fen++;

if(fen==60)fen=0; } } }

void beled() {

BELL=LEDL=LEDR=0; delayns(150); BELL=LEDL=LEDR=1;

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