all_text.c

机器人部分C语言编码 c语言 供大家参考学习

#include "p89v51rx2.h"
#include "constant_type.h"
#include "global.h"
#include "lcd.h"
#include "delay.h"
#include "ir_sensor.h"
#include "motor.h"


void main()
{
	u08 x=0,y=0;
	LCD_Init();
	LCD_clear();
	delay_ms(30);
	init_motor();
	key_on_off(1);
	 EA=1;

	while(1)
	{
	get_IR_front();	
						
		LCD_clear();		
		LCD_write_8num(0,0,IR_front_d[1]);
		LCD_write_8num(0,2,IR_front_d[2]);
		LCD_write_8num(0,4,IR_front_d[3]);
		LCD_write_8num(0,6,IR_front_d[4]);
		LCD_write_8num(0,8,IR_front_d[5]);
		LCD_write_8num(0,10,IR_front_d[6]);
		LCD_write_8num(0,12,IR_front_d[7]);
		LCD_write_8num(0,14,IR_front_d[8]);
		
		 key_on_off(1);
		 delay_ms(100);	
		if(KEY_1==0)
		{
			delay_ms(50);
			if(KEY_1==0)
			{
			   while(1)
			   {
			   	   get_IR_front();
				   	LCD_write_8num(1,5,x);
				   switch(IR_front_d[0])
				   {
				   		case 0xE7:	//11100111
								  {
								  	go_forward(30);
									break;
								  }
					   	case 0xc7:       //11000111
								 {
								  	go_forward(30);
									break;
								  }
						case 0xe3:          //11100011
								 {
								  	go_forward(20);
									break;
								  }
						case 0xcf:		//11001111
								 {
								  	go_forward(30);
									break;
								  }
						case 0xf3:		//11110011
								  {
								  	go_forward(30);
									break;
								  }


						case 0x9f:	  //10011111
								  {
								  	go_left_slow(30);
									break;
								  }

						case 0xf9:        //11111001
								  {
								  go_right_fast(30);
								  break;
								 }
					

						case 0x8f:			//10001111
								  {
								  go_left_fast(30);
								  break;
								 }

						
						case 0xf1:        //11110001
								 {
								  go_right_fast(30);
								  break;
								 }
						case 0x00:
								{
									if(x<4)
									{
										go_forward(20);
										delay_ms(50);
										x++;
									}	
									else
									{
										go_right_fast(30);
									  delay_ms(50);			  
									}
									break;								
								}
						
				   }
			   }
			    
				
			
				
			}
		}
		if(KEY_2==0)
		{
			delay_ms(50);
			if(KEY_2==0)
			{	
			
	
				stop();
			}
		}					
	}
}