/智能小車避障、循跡、紅外遙控C語言代碼/實現(xiàn)功能有超聲波避障，紅外遙控智能小車，紅外傳感器實現(xiàn)小車自動循跡，1602顯示小車的工作狀態(tài)，另有三個獨立按鍵分別控制三種狀態(tài)的轉(zhuǎn)換/注每個小車的引腳配置都不一樣，要注意引腳的配置，但是我的代碼注釋比較多，看起來比較容易一點INCLUDEINCLUDEINCLUDE“LCDH“INCLUDEDEFINEUCHARUNSIGNEDCHARDEFINEUINTUNSIGNEDINTUCHARENCHAR_PUZH18“RUN“/1602顯示數(shù)組UCHARENCHAR_PUZH28“BACK“UCHARENCHAR_PUZH38“STOP“UCHARENCHAR_PUZH48“LEFT“UCHARENCHAR_PUZH58“RIGHT“UCHARENCHAR_PUZH68“XUNJI“UCHARENCHAR_PUZH78“BIZHANG“UCHARENCHAR_PUZH88“YAOKONG“DEFINEHWP2/紅外傳感器引腳配置P2K口DEFINEPWMP1/L298N管腳定義/超聲波引腳控制/SBITECHOP32/超聲波接收引腳定義兼紅外遙控按鍵STATE_TOTAL2SBITTRIGP33/超聲波發(fā)送引腳定義/紅外控制引腳配置SBITKEY2P37/紅外接收器數(shù)據(jù)線兼循跡按鍵STATE_TOTAL0SBITKEY1P34/獨立按鍵P34控制自動避障STATE_TOTAL1UCHARSTATE_TOTAL3,STATE_20/總狀態(tài)控制全局變量0為自動循跡模塊1為自動避障模塊2為紅外遙控UCHARSTATE_1,DAT/紅外掃描標志位UCHARTIME_10,TIME_20/定時器1中斷全局變量TIME_2控制PWM脈沖計數(shù)TIME_1控制轉(zhuǎn)彎延時計數(shù)也做延時一次0005SUCHARTIME,TIMEH,TIMEL,STATE0/超聲波測量緩沖變量STATE為超聲波狀態(tài)檢測控制全局變量UINTCOUNT0/1602顯示計數(shù)/UNSIGNEDCHARIRCOM7/紅外接收頭接收數(shù)據(jù)緩存IRCOM2存放的為數(shù)據(jù)UNSIGNEDCHARNUMBER,DISTANCE4,DATE_DATA80,0,0,0,0,0,0,0/紅外接收緩存變量/VOIDIRDELAYCHARX/X014MS紅外頭專用DELAYVOIDRUNVOIDBACKVOIDSTOPVOIDLEFT_90VOIDLEFT_180VOIDRIGHT_90VOIDDELAYUINTDAT/VOIDINIT_TESTVOIDDELAY_100MSUINTMSVOIDDISPLAYUCHARTEMP/超聲波顯示驅(qū)動VOIDBIZHANG_TESTVOIDXUNJI_TESTVOIDHONGWAI_TESTVOIDDELAY10MSVOIDVOIDINIT_TEST/定時器01外部中斷01延時初始化TMOD0X11/設(shè)置定時器01工作方式116位初值定時器TH10XFE/裝入初值定時一次為00005S2000HZTL10X0CTF00/定時器0方式1計數(shù)溢出標志TF10/定時器1方式1計數(shù)溢出標志ET01/允許定時器0中斷溢出ET11/允許定時器1中斷溢出EA1/開總中斷IFSTATE_TOTAL1/為超聲波模塊時初始化TRIG0/發(fā)射引腳低電平ECHO0/接收引腳低電平EX00/關(guān)閉外部中斷IT01/由高電平變低電平，觸發(fā)外部中斷0IFSTATE_TOTAL2/紅外遙控初始化IT11/外部中斷1為負跳變觸發(fā)EX11/允許外部中斷1TRIG1/33為高電平I/O口初始化DELAY60/等待硬件操作VOIDMAINUINTIDELAY50INIT_TESTTR11/開啟定時器1LCD1602_INITDELAY50WHILESTATE_20IFKEY10/檢測按鍵S1是否按下DELAY10MS/消除抖動IFKEY10STATE_TOTAL0/總狀態(tài)定義0為自動循跡模塊1為自動避障模塊2為紅外遙控WHILEI30EX11RETURN/014MS計數(shù)過長自動離開。/高電平計數(shù)完畢IRCOMJIRCOMJ1/數(shù)據(jù)最高位補“0”IFN8IRCOMJIRCOMJ|0X80/數(shù)據(jù)最高位補“1”N0/ENDFORK/ENDFORJIFIRCOM2IRCOM3/判斷數(shù)據(jù)碼與數(shù)據(jù)反碼是否正確真確返回EX11RETURNEX11VOIDTIME1_SUSPEND1VOIDINTERRUPT3/3為定時器1的中斷號1定時器0的中斷號0外部中斷12外部中斷04串口中斷TH10XEC/裝入初值定時一次為00005S2000HZTL10X78TIME_2/控制PWM脈沖計數(shù)IFSTATE_TOTAL3/判斷進入按鍵是否按下進入狀態(tài)1避障或者0循跡STATE_21/退出按鍵判斷/IFTIME_2100TIME_20ELSEIFTIME_20CFORB38B0BFORA130A0AVOIDDELAYUINTDAT/延時函數(shù)用于初始化UINTIFORIDATI0I_NOP_VOIDDELAY_100MSUINTMS/延時函數(shù)用于超聲波UINTI,JFORIMSI0IFORJ200J0J_NOP_NOP_NOP_NOP_NOP_/小車前進VOIDRUNVOIDPWM0X56/小車后退VOIDBACKVOIDPWM0XA9TR11TIME_20WHILETIME_22/小于15厘米小車后退再左轉(zhuǎn)BACKLEFT_180IFCOUNT20BAITEMP/100/1602顯示數(shù)據(jù)DATE_DATA5BAISHITEMP100/10DATE_DATA6SHIGETEMP10010DATE_DATA7GEFORI0IDISTANCE1ELSEDISTANCE0DISTANCE1IFDISTANCE0DISTANCE2ELSEDISTANCE0DISTANCE2IFDISTANCE0DISTANCE3ELSEDISTANCE0DISTANCE3DISTANCE_DATDISTANCE0J0DISPLAYDISTANCE_DATCOUNTVOIDXUNJI_TESTINTIDELAY50FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH6IWHILE1/DELAY10STATE_1HWDATSTATE_1/判斷低4位的狀態(tài)每隔5MS檢測一次SWITCHDATCASE0X00RUNBREAKCASE0X01RIGHT_120BREAKCASE0X02RIGHT_90BREAKCASE0X04LEFT_90BREAKCASE0X06RUNBREAKCASE0X03RIGHT_120BREAKCASE0X08LEFT_120BREAKCASE0X0CLEFT_120BREAKDEFAULTRUNBREAKVOIDHONGWAI_TESTINTIDELAY60FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH8I/TR11WHILE1NUMBERIRCOM2SWITCHNUMBERCASE0X18PWM0X56/前進FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH1IBREAKCASE0X08PWM0X50/右兩輪正轉(zhuǎn)左轉(zhuǎn)FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH4IBREAKCASE0X1CPWM0X00FORI0I8ILCD1602_WRITECOM0X80ILCD1602_WRITEDATAENCHAR_PUZH3IBREAKCASE0X5APWM0X06/左兩輪正轉(zhuǎn)右轉(zhuǎn)FO