main.c

本程序是基于单片机的智能小车设计

//#include<reg51.h>
#include"STC12C5410AD.h"
#define   unchar unsigned char
#define   uint unsigned int

unchar code  seg1[16] ={0x30,0xf9,0x64,0xe0,0xa9,0xa2,0x22,0xf8,0x20,0xa0,0x28,0x23,0x36,0x61,0x26,0x2e};//大模板上
                  //0,1,2,3,4,5,6,7,8,9,A,b,C,d,e,F 
unchar code   seg2[11] = {0x21,0xf3,0x19,0x51,0xc3,0x45,0x05,0xf1,0x01,0x41,0x84} ;//小模板上 (不带小数点)
unchar code   seg3[11] = {0x20,0xf2,0x18,0x50,0xc3,0x45,0x04,0xf0,0x00,0x40,0x83} ;	//小模板上 (带小数点)
unchar code  act1[4] = { 0xf7,0xfb,0xfd,0xfe}; //单位选位
unchar code  act2[9]={0xfe,0xfc,0xf8,0xf0,0xf1,0xf3,0xf7,0xff};	//用作渐出渐入显示选位
//uint  sum=125;
uint  key ;   //按键按下标志（1到6）
uint xdata record1[128];	//用于角度传感器的转换
uint xdata record2[128];  //用于按键的转换识别
uint xdata 	record_v[128] ;	 //用于电压显示
uint flag ;

sbit   led = P2^5;
sbit   m10 = P3^5;
sbit   m11 = P3^7;
sbit   m20 = P3^2;
sbit   m21 = P3^3;
sbit   right = P1^4;
sbit   left = P1^5;
sbit   s0 = P1^0;
sbit   s1 = P1^1; 
sbit   s2 = P1^2 ;
sbit   s3 = P1^3;

 /*延时程序*/
void delay(int  k)
{
   int i,j;
   for(i=0;i<k;i++)
     for(j=0;j<121;j++)
	    { ; }
}

 
 /*启动AD转换并返回转换值*/
uint GET_AD_Result()
{
 unchar temp;
 uint data_temp;
 data_temp=0;
 ADC_DATA=0;
 ADC_LOW2=0;
 ADC_CONTR|=0x08;
re: temp=0x10;
 temp&=ADC_CONTR;  //判断转换是否完成
 if(temp==0)
  goto re;
 ADC_CONTR&=0xe7;  //软件清零
 data_temp=ADC_DATA;
 data_temp<<=2;
 data_temp+=ADC_LOW2;
 return data_temp;
}
/*显示角度值*/
show_r(int h)
 {
    int a , b ,i;
	  if(h > 0)
       {
	    if(h < 10)
		 { 
		    for(i = 0; i < 100; i++) 
			 {
			    { P1 = act1[2];P2 = seg2[h];delay(5); }
			    { P1 = act1[3]; P2 = 0xc9; delay(5); }//显示“ °” （读数符号）
			 }
		 }  
		else  
		  { 
		     a = h%10;
             b =h/10;
             for(i = 0; i < 150; i++)
			  {
			   { P1 = act1[2]; P2 = seg2[a];delay(5);  }
               { P1 = act1[1]; P2 = seg2[b]; delay(5); }
			   { P1 = act1[3]; P2 = 0xc9; delay(5); }
			  }
       	 }
	   }
	
	else
	{	  
		 h = ~h;
		  
	    if(h < 10)
		{ 
		   for(i = 0; i < 150; i++)
		    {
			  { P1 = act1[2];P2 = seg2[h];delay(5);	}
		      { P1 = act1[1]; P2 = 0xdf; delay(5); } 
			  { P1 = act1[3]; P2 = 0xc9; delay(5); }
			 }
		}  
	    
		else
		 {
		    a = h%10;
            b =h/10; 
     	    for(i = 0; i < 150; i++)
		     { 
			  { P1 = act1[2]; P2 = seg2[a];delay(5);  }
              { P1 = act1[1]; P2 = seg2[b]; delay(5); }
		      { P1 = act1[0]; P2 = 0xdf; delay(5); } //显示负号
			  { P1 = act1[3]; P2 = 0xc9; delay(5); }
			 }
		 }        		 
	   }
	
   
 }


 /*将转换出来的数据转换成角度值*/
 void moto(uint h)
{    int r ,i,k;
	 r=(h/5)-83;  //转换成角度值
	 show_r(r);	  //显示角度值
    
 if(flag)	
  {
   if(r > 0)
	{
	  {
	   led = 0;
	     m10 = 1;
		m11 = 0;
		delay(2000);
		m10 = 1;
		m11 = 1;
        delay(100);
	   /*CMOD = 0x02;
       CL = 0x00;
       CH = 0x00;
       CCAP0L = 0xff;
       CCAP0H = 0xff;    
       CCAPM0 = 0x42;
   
       CCAP1L = 0x00;
       CCAP1H = 0x00;
       CCAPM1 = 0x00;
       CR = 1; */
	   flag = 0;
	  }
	 }
	else  if(r < 0) 
	 {	  
      {   
		led = 1;
        m10 = 0;
		m11 = 1;
		delay(2000);
		m10 = 1;
		m11 = 1;
        delay(100);
        flag = 0;

		/*CMOD = 0x02;
        CL = 0x00;
        CH = 0x00;
        CCAP0L = 0x00;
        CCAP0H = 0x00;
        CCAPM0 = 0x00;
   
        CCAP1L = 0xff;
        CCAP1H = 0xff;
        CCAPM1 = 0x42;
        CR = 1;*/
	   }
	 }
   else
	 {
	    led = 0;
		m10 = 1;
		m11 = 1;
		flag = 0;
	    /*CMOD = 0x02;
        CL = 0x00;
        CH = 0x00;
        CCAP0L = 0x00;
        CCAP0H = 0x00;
        CCAPM0 = 0x00;
   
        CCAP1L = 0x00;
        CCAP1H = 0x00;
        CCAPM1 = 0x00;
        CR = 1;*/
	 }	
   
 }

else
 {
  if(r > 3)
	{
	  {
	   led = 0;
	     m10 = 1;
		m11 = 0;
		delay(2000);
		m10 = 1;
		m11 = 1;
        delay(100);
	   /*CMOD = 0x02;
       CL = 0x00;
       CH = 0x00;
       CCAP0L = 0xff;
       CCAP0H = 0xff;    
       CCAPM0 = 0x42;
   
       CCAP1L = 0x00;
       CCAP1H = 0x00;
       CCAPM1 = 0x00;
       CR = 1; */
	   flag = 0;
	  }
	 }
   else  if(r < -3) 
	 {	  
        
	 {   
		led = 1;
        m10 = 0;
		m11 = 1;
		delay(2000);
		m10 = 1;
		m11 = 1;
        delay(100);
        flag = 0;

		/*CMOD = 0x02;
        CL = 0x00;
        CH = 0x00;
        CCAP0L = 0x00;
        CCAP0H = 0x00;
        CCAPM0 = 0x00;
   
        CCAP1L = 0xff;
        CCAP1H = 0xff;
        CCAPM1 = 0x42;
        CR = 1;*/
		
		

	   }
	 }
	 else
	 {
	    led = 0;
		m10 = 1;
		m11 = 1;
		flag = 0;
	    /*CMOD = 0x02;
        CL = 0x00;
        CH = 0x00;
        CCAP0L = 0x00;
        CCAP0H = 0x00;
        CCAPM0 = 0x00;
   
        CCAP1L = 0x00;
        CCAP1H = 0x00;
        CCAPM1 = 0x00;
        CR = 1;*/
	 }	
  }
}

/*震动传感器模数转换初始化*/
void init_AD()
{
   uint a,i,j,b,result,sum;
   uint aa[15];
   unchar k; 
   record1[k]=0;
   delay(10);
    
   ADC_CONTR|=0x80;  //开ADC电源
   P1M0=0xb0;		 // 将P1.7口设为开漏模式      P1M0 = 1000 0000 			（11 开漏 ； 10 高阻 ；01 推挽输出 ；00 普通）
                     //                           P1M1 = 1000 0000         上下共同表示
   P1M1=0xb0;
   //ADC_CONTR&=0xf8;
  // ADC_CONTR|=0x07;   //设置P1.7口为ADC转换口
   ADC_CONTR=0xe7;
  
 for(i = 0; i < 15; i++) 
  {
   for(k=0;k<128;k++)
    {
     record1[k]=GET_AD_Result();//启动ADC并保存结果
   
    }
    aa[i++] = record1[k];
  //shujvchuli(result);
    //shujvchuli2(record1[k]);

  }
 

for(i = 0; i < 15 ; i++)
 for(j = 0; j < (15 - j); j++)
  {
    if(aa[j] > aa[j+1])
	 a = aa[j];
	 aa[j] = aa[j+1];
	 aa[j+1] = a;
  }
 for(i = 1; i < 13; i++)
  sum = sum + aa[i];
  result = sum/13;
  moto(result);
}

/*转向*/
void turn()
{
  if(right == 0)
   {
     led = 0;
   CMOD = 0x02;
   CL = 0x00;
   CH = 0x00;
   CCAP0L = 0x00;
   CCAP0H = 0x00;
   CCAPM0 = 0x00;
   
   CCAP1L = 0xf3;
   CCAP1H = 0xf3;
   CCAPM1 = 0x42;
   CR = 1;
   
   }
  else if(left == 0)
    {
   led = 0;
  CMOD = 0x02;
   CL = 0x00;
   CH = 0x00;
   CCAP0L = 0xf3;
   CCAP0H = 0xf3;
   CCAPM0 = 0x42;
   
   CCAP1L = 0x00;
   CCAP1H = 0x00;
   CCAPM1 = 0x00;
   CR = 1;
   
   } 
  else 
   {
   led = 1;
   CMOD = 0x02;
   CL = 0x00;
   CH = 0x00;
   CCAP0L = 0x00;
   CCAP0H = 0x00;
   CCAPM0 = 0x42;
   
   CCAP1L = 0x00;
   CCAP1H = 0x00;
   CCAPM1 = 0x00;
   CR = 1;
   }  
}
void main()
{
  //delay(4000);
  turn();
    //init_AD();
  
}