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本帖最后由 明明乖 于 2015-12-24 14:54 編輯
寫了3個小車的單獨程序，獨立可以運(yùn)行，但是三個和在一起就不能運(yùn)行,誰可以幫我解釋下，幫我組合在一起，讓超聲波測距的距離顯示到1602上。程序已發(fā)。
測速程序#include<reg52.h>
#include<math.h>
#define uchar unsigned char
#define uint unsigned int
uchar code table[]="Time:";
uchar code table1[]="v: r/s";
sbit lcden=P2^6; // 液晶使能端
sbit rw=P2^5; //讀寫
sbit lcdrs=P2^4; //數(shù)據(jù)命令端
sbit k1=P3^0;
sbit k2=P3^1;
int num=0,n=0,num1=0,n1=0;
int V=0,a=0;
int s=0;
void delay(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=110;y>0;y--);
} //延遲
void write(uchar com) //寫命令
{
lcdrs=0;
P0=com;
delay(5);
lcden=1;
delay(5);
lcden=0;
}
void write_data(uchar d) //寫數(shù)據(jù)
{
lcdrs=1;
P0=d;
delay(5);
lcden=1;
delay(5);
lcden=0;
}
void init() //初始化
{
lcden=0;
delay(5);
write(0x38);
write(0x0c);
write(0x06);
write(0x01);
}
void main()
{
TMOD=0x01; //設(shè)置工作方式
TH0=(65536-45872)/256; //裝初值
TL0=(65536-45872)%256;
EA=1; //開總中斷
ET0=1; //開定時器0中斷
TR0=1; //啟動定時器
IT0 = 1; //下降沿觸發(fā)
EX0=1; //打開外部中斷0中斷
rw=0;
init();
write(0x80);
for(num=0;num<5;num++)
{
write_data(table[num]);
delay(5);
} //寫入Time
write(0x80+0x08);
for(num=0;num<7;num++)
{
write_data(table1[num]);
delay(5);
} //寫入V
while(1)
{
if(!k1)
{
delay(5);
if(!k1) //
{
ET0=0; //關(guān)定時器0中斷
TR0=0; //關(guān)定時器
}
while(!k1);
delay(5);
} //
write(0x80+0x05); //寫入時間十位數(shù)
write_data(s/10+48);
write(0x80+0x06); //寫入時間個位數(shù)
write_data(s%10+48);
write(0x80+0x0a); //寫入速度十位數(shù)
write_data(V/10+48);
write(0x80+0x0b);
a=V;
write_data(a%10+48); //寫入速度個位數(shù)
}
}
void time() interrupt 1 //定時器0中斷
{
TH0=(65536-45872)/256;
TL0=(65536-45872)%256;
n++; //每加一次判斷
if(n==20) //說明到1秒
{
n=0; //
s++; //時間++
V=num1/20.0; //
num1=0;
}
}
void time1() interrupt 0 //外部中斷P3^2
{
num1++;
}
循跡程序
#include <reg51.h>
#include<intrins.h>
#define uint unsigned int
#define uchar unsigned char
sbit z=P3^2; //c左邊傳感器
sbit y=P3^3; //右邊傳感器
sbit j=P3^7;
void delay(unsigned int n) //
{
unsigned char i, j,k;
for(k=0;k<=n;k++)
{
_nop_();
_nop_();
i = 5;
j = 6;
do
{
while (--j);
} while (--i);
}
}
main()
{while(1)
{if(z==1&&y==1)
{P1=0xa9;
}
if(z==0&&y==1)
{P1=0x56;
delay(5);
P1=0xa6;
delay(10);
}
if(z==1&&y==0)
{P1=0x56;
delay(5);
P1=0x59;
delay(10);
}
if(z==0&&y==0)
{P1=0x00;
}
}
}
超聲波程序
#include <AT89x51.H> //器件配置文件
#include <intrins.h>
#define RX P1_1
#define TX P1_2
#define LCM_RW P3_6 //定義LCD引腳
#define LCM_RS P3_5
#define LCM_E P3_4
#define LCM_Data P0
#define Busy 0x80 //用于檢測LCM狀態(tài)字中的Busy標(biāo)識
void LCMInit(void);
void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData);
void DisplayListChar(unsigned char X, unsigned char Y, unsigned char code *DData);
void Delay5Ms(void);
void Delay400Ms(void);
void Decode(unsigned char ScanCode);
void WriteDataLCM(unsigned char WDLCM);
void WriteCommandLCM(unsigned char WCLCM,BuysC);
unsigned char ReadDataLCM(void);
unsigned char ReadStatusLCM(void);
unsigned char code ASCII[15] = {'0','1','2','3','4','5','6','7','8','9','.','-','M'};
static unsigned char DisNum = 0; //顯示用指針
unsigned int time=0;
unsigned long S=0;
bit flag =0;
unsigned char disbuff[4] ={ 0,0,0,0,};
//寫數(shù)據(jù)
void WriteDataLCM(unsigned char WDLCM)
{
ReadStatusLCM(); //檢測忙
LCM_Data = WDLCM;
LCM_RS = 1;
LCM_RW = 0;
LCM_E = 0; //若晶振速度太高可以在這后加小的延時
LCM_E = 0; //延時
LCM_E = 1;
}
//寫指令
void WriteCommandLCM(unsigned char WCLCM,BuysC) //BuysC為0時忽略忙檢測
{
if (BuysC) ReadStatusLCM(); //根據(jù)需要檢測忙
LCM_Data = WCLCM;
LCM_RS = 0;
LCM_RW = 0;
LCM_E = 0;
LCM_E = 0;
LCM_E = 1;
}
//讀數(shù)據(jù)
unsigned char ReadDataLCM(void)
{
LCM_RS = 1;
LCM_RW = 1;
LCM_E = 0;
LCM_E = 0;
LCM_E = 1;
return(LCM_Data);
}
//讀狀態(tài)
unsigned char ReadStatusLCM(void)
{
LCM_Data = 0xFF;
LCM_RS = 0;
LCM_RW = 1;
LCM_E = 0;
LCM_E = 0;
LCM_E = 1;
while (LCM_Data & Busy); //檢測忙信號
return(LCM_Data);
}
void LCMInit(void) //LCM初始化
{
LCM_Data = 0;
WriteCommandLCM(0x38,0); //三次顯示模式設(shè)置，不檢測忙信號
Delay5Ms();
WriteCommandLCM(0x38,0);
Delay5Ms();
WriteCommandLCM(0x38,0);
Delay5Ms();
WriteCommandLCM(0x38,1); //顯示模式設(shè)置,開始要求每次檢測忙信號
WriteCommandLCM(0x08,1); //關(guān)閉顯示
WriteCommandLCM(0x01,1); //顯示清屏
WriteCommandLCM(0x06,1); // 顯示光標(biāo)移動設(shè)置
WriteCommandLCM(0x0F,1); // 顯示開及光標(biāo)設(shè)置
}
//按指定位置顯示一個字符
void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData)
{
Y &= 0x1;
X &= 0xF; //限制X不能大于15，Y不能大于1
if (Y) X |= 0x40; //當(dāng)要顯示第二行時地址碼+0x40;
X |= 0x80; //算出指令碼
WriteCommandLCM(X, 1); //發(fā)命令字
WriteDataLCM(DData); //發(fā)數(shù)據(jù)
}
//按指定位置顯示一串字符
void DisplayListChar(unsigned char X, unsigned char Y, unsigned char code *DData)
{
unsigned char ListLength;
ListLength = 0;
Y &= 0x1;
X &= 0xF; //限制X不能大于15，Y不能大于1
while (DData[ListLength]>0x19) //若到達(dá)字串尾則退出
{
if (X <= 0xF) //X坐標(biāo)應(yīng)小于0xF
{
DisplayOneChar(X, Y, DData[ListLength]); //顯示單個字符
ListLength++;
X++;
}
}
}
//5ms延時
void Delay5Ms(void)
{
unsigned int TempCyc = 5552;
while(TempCyc--);
}
//400ms延時
void Delay400Ms(void)
{
unsigned char TempCycA = 5;
unsigned int TempCycB;
while(TempCycA--)
{
TempCycB=7269;
while(TempCycB--);
};
}
/********************************************************/
void Conut(void)
{
time=TH0*256+TL0;
TH0=0;
TL0=0;
S=(time*1.7)/100; //算出來是CM
if((S>=700)||flag==1) //超出測量范圍顯示“-”
{
flag=0;
DisplayOneChar(0, 1, ASCII[11]);
DisplayOneChar(1, 1, ASCII[10]); //顯示點
DisplayOneChar(2, 1, ASCII[11]);
DisplayOneChar(3, 1, ASCII[11]);
DisplayOneChar(4, 1, ASCII[12]); //顯示M
}
else
{
disbuff[0]=S%1000/100;
disbuff[1]=S%1000%100/10;
disbuff[2]=S%1000%10 %10;
DisplayOneChar(0, 1, ASCII[disbuff[0]]);
DisplayOneChar(1, 1, ASCII[10]); //顯示點
DisplayOneChar(2, 1, ASCII[disbuff[1]]);
DisplayOneChar(3, 1, ASCII[disbuff[2]]);
DisplayOneChar(4, 1, ASCII[12]); //顯示M
}
}
/********************************************************/
void zd0() interrupt 1 //T0中斷用來計數(shù)器溢出,超過測距范圍
{
flag=1; //中斷溢出標(biāo)志
}
/********************************************************/
void StartModule() //啟動模塊
{
TX=1; //啟動一次模塊
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
TX=0;
}
/********************************************************/
void delayms(unsigned int ms)
{
unsigned char i=100,j;
for(;ms;ms--)
{
while(--i)
{
j=10;
while(--j);
}
}
}
/*********************************************************/
void main(void)
{
unsigned char TempCyc;
Delay400Ms(); //啟動等待，等LCM講入工作狀態(tài)
LCMInit(); //LCM初始化
Delay5Ms(); //延時片刻(可不要)
ReadDataLCM();//測試用句無意義
for (TempCyc=0; TempCyc<10; TempCyc++)
Delay400Ms(); //延時
while(1)
{
TMOD=0x01; //設(shè)T0為方式1，GATE=1；
TH0=0;
TL0=0;
ET0=1; //允許T0中斷
EA=1; //開啟總中斷
while(1)
{
StartModule();
// DisplayOneChar(0, 1, ASCII[0]);
while(!RX); //當(dāng)RX為零時等待
TR0=1; //開啟計數(shù)
while(RX); //當(dāng)RX為1計數(shù)并等待
TR0=0; //關(guān)閉計數(shù)
Conut(); //計算
delayms(80); //80MS
}
}
}
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小車.zip
2015-12-24 05:32 上傳
點擊文件名下載附件
3.95 KB, 下載次數(shù): 5
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