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#include<reg52.h>
#include <intrins.h>
#include <math.h>
/****************1602**I/O口******************/
sbit rs = P1^1;
sbit lcden = P3^3; //外部中斷入口
sbit state = P0^7; //1說明液晶繁忙
/*********模式選擇端口************/
sbit key = P2^4;
/***************超聲波**I/O口******************/
sbit trig = P1^0;
sbit echo = P3^2;
/******************尋跡IO口聲明********************/
/*白線為0，黑線為1*/
sbit trace1 = P3^5; /*1路*/
sbit trace2 = P2^5; /*2路*/
sbit trace3 = P2^6; /*3路*/
/***************測試燈**I/O口******************/
sbit led = P2^0;
/*****************電機(jī)驅(qū)動**IO口*****************/
/*使能端*/
sbit em1 = P1^4; //左后
sbit em2 = P1^7; //右后
sbit em3 = P2^7; //右前
sbit em4 = P2^3; //左前
/*電機(jī)口*/
sbit in1 = P1^2; //左后
sbit in2 = P1^3;
sbit in3 = P1^5; //右后
sbit in4 = P1^6;
sbit in5 = P3^6; //右前
sbit in6 = P3^7;
sbit in7 = P2^1; //左前
sbit in8 = P2^2;
/***************定義全局變量******************/
uchar table1[] = "Distance:"; //1602顯示
uchar table2[] = "cm";
uchar table3[] = "Tracing";
uchar flag_ula; //超聲波接收標(biāo)志
float distance; //計(jì)算距離
uchar bluetoothdata; //接受藍(lán)牙串口數(shù)據(jù)
/****************函數(shù)聲明******************/
void Reverse();
void Stop();
/*****************宏定義******************/
#define uchar unsigned char
#define uint unsigned int
#define cycle 15
#define cycle1 100
/***********************延時類函數(shù)***********************/
/*毫秒延時*/
void Delayms(uint x)
{
uint a, b;
for(a = x; a > 0; a--)
for(b = 110; b > 0; b--);
}
/*微妙延時*/
void Delay10us(unsigned char i)
{
unsigned char j;
do{
j = 10;
do
{
_nop_();
}
while(--j);
}
while(--i);
}
/***************初始化中斷************/
void init_T0()
{
TMOD = 0x20;
TH0 = 0;
TL0 = 0;
EA = 1;
IT0 = 1; //外部0中斷的中斷方式為：下降沿中斷
ES = 1; //開串口中斷
SCON = 0x50;
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