循迹避障模块设计方案包括电路原理图、实物图、器件表以及程序源代码循迹避障模块PCB图正面循迹避障模块PCB图背面循迹避障模块器件（BOM）表实物图封装直插直插直插直插直插直插封装封装直插封装封装表贴循迹避障模块实物图循迹避障模块电路板正面循迹避障模块电路板背面循迹避障程序源代码/*************51单片机智能小车红外循迹避障运动程序源代码***************开发软件：KEIL。
单片机型号：STC15W4K56S4。
单片机内部时钟，频率为22.1184M。
**********************************************************************/#include "stc15.h" //包含头文件stc15.h#include <intrins.h> //包含头文件intrins.h#define Busy 0x80 //LCD忙#define warning_voltage 7.0 //电池报警电压值#define ADC_POWER 0x80 //将0x80宏定义成ADC_POWER#define ADC_FLAG 0x10 //将0x10宏定义成ADC_FLAG#define ADC_START 0x08 //将0x08宏定义成ADC_START#define ADC_SPEEDLL 0x00 //将0x00宏定义成ADC_SPEEDLL#define ADC_SPEEDL 0x20 //将0x20宏定义成ADC_SPEEDL#define ADC_SPEEDH 0x40 //将0x40宏定义成ADC_SPEEDH#define ADC_SPEEDHH 0x60 //将0x60宏定义成ADC_SPEEDHHsbit Red_LED = P0^4; //红色LED对应P0.4sbit Green_LED = P0^5; //绿色LED对应P0.5sbit Blue_LED = P5^2; //蓝色LED对应P5.2sbit Yellow_LED = P5^3; //黄色LED对应P5.3sbit Beep = P4^4; //蜂鸣器对应P4.4sbit LCD_D4 = P4^3; //LCD_D4对应P4.3sbit LCD_D5 = P4^2; //LCD_D5对应P4.2sbit LCD_D6 = P2^7; //LCD_D6对应P2.7sbit LCD_D7 = P5^1; //LCD_D7对应P5.1sbit LCD_RS = P4^1; //LCD_RS对应P4.1sbit LCD_RW = P3^5; //LCD_RW对应P3.5sbit LCD_EN = P2^6; //LCD_EN对应P2.6sbit U6_L293D_En1_En2 = P1^7; //L293D（U6）的EN1和EN2对应P1.7 sbit U6_L293D_In1_In3 = P4^7; //L293D（U6）的IN1和IN3对应P4.7 sbit U6_L293D_In2_In4 = P1^6; //L293D（U6）的IN2和IN4对应P1.6 sbit U7_L293D_En1_En2 = P0^6; //L293D（U7）的EN1和EN2对应P0.6 sbit U7_L293D_In1_In3 = P0^7; //L293D（U7）的IN1和IN3对应P0.7 sbit U7_L293D_In2_In4 = P1^2; //L293D（U7）的IN2和IN4对应P1.2 sbit HW_LEFT_WAI = P2^0; //HW_LEFT_WAI对应IO口P2.0sbit HW_LEFT_NEI = P2^2; //HW_LEFT_NEI对应IO口P2.2sbit HW_RIGHT_NEI = P2^3; //HW_RIGHT_NEI对应IO口P2.3sbit HW_RIGHT_WAI = P2^4; //HW_RIGHT_WAI对应IO口P2.4sbit HW_LEFT = P2^1; //红外避障模块左外对应IO口P2.1 sbit HW_RIGHT = P2^5; //红外避障模块左内对应IO口P2.5 sbit Key_1 = P5^2; //Key1对应IO口P5.2sbit Key_2 = P0^4; //Key2对应IO口P0.4sbit Key_3 = P0^5; //Key3对应IO口P0.5sbit Key_4 = P5^3; //Key4对应IO口P5.3unsigned char code Start[]={"CAR START"}; //LCD显示内容CAR START unsigned char code Work[]={"CAR WORK"}; //LCD显示内容CAR WORK unsigned char code Voltage[]={"V: . V"}; //LCD显示内容V:unsigned char code VlotageLow[]={"LOW"}; //LCD显示内容LOWunsigned char code Space1[]={" "}; //LCD显示内容空白unsigned char code Space3[]={" "}; //LCD显示内容空白unsigned char code Forward[]={"FORWARD"}; //LCD显示内容FORWARD unsigned char code Back[]={"BACK"}; //LCD显示内容BACK unsigned char code Ting[]={"TING"}; //LCD显示内容TING unsigned char code Left[]={"LEFT"}; //LCD显示内容LEFT unsigned char code Right[]={"RIGHT"}; //LCD显示内容RIGHT unsigned char code ClockWise[]={"CLOCKWISE"}; //LCD显示内容CLOCKWISE unsigned char code AntiClockWise[]={"ANTICLOCKWISE"};//LCD显示内容ANTICLOCKWISE unsigned char code PressKey1[]={"P: K1"}; //LCD显示内容P: K1 unsigned char code PressKey2[]={"P: K2"}; //LCD显示内容P: K2 unsigned char code PressKey3[]={"P: K3"}; //LCD显示内容P: K3 unsigned char code PressKey4[]={"P: K4"}; //LCD显示内容P: K4 unsigned char code Hwxjbz[]={"HWXJBZ"}; //LCD显示内容HWXJBZvoid delay(unsigned int t); //delay延时函数void delay_us(unsigned int t); //delay_us延时函数void delay_ms(unsigned int t); //delay_ms延时函数void Delay5Ms(void); //延时函数void LED_INIT(void); //LED对应的IO口初始化void Red_Led_On(void); //红色LED亮void Red_Led_Off(void); //红色LED灭void Blue_Led_On(void); //蓝牙LED亮void Blue_Led_Off(void); //蓝色LED灭void Green_Led_On(void); //绿色LED亮void Green_Led_Off(void); //绿色LED灭void Yellow_Led_On(void); //黄色LED亮void Yellow_Led_Off(void); //黄色LED灭void BEEP_INIT(void); //蜂鸣器对应的IO口初始化void BEEP_ON(void); //蜂鸣器响void BEEP_OFF(void); //蜂鸣器不响void GPIO_1602_Configuration(void); //LCD1602液晶IO口初始化void WriteDataLCD(unsigned char WDLCD); //LCD写数据函数void WriteCommandLCD(unsigned char WCLCD,BuysC); //LCD写命令函数unsigned char ReadDataLCD(void); //LCD读数据函数unsigned char ReadStatusLCD(void); //LCD读状态函数void LCDInit(void); //LCD初始化void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData);//LCD显示一个字符void DisplayListChar(unsigned char X, unsigned char Y, unsigned char code *DData); //LCD显示一个字符串void GPIO_MOTOR_Configuration(void); //电机控制IO口初始化void CAR_FORWARD(void); //智能小车前进void CAR_LEFT(void); //智能小车左转void CAR_RIGHT(void); //智能小车右转void CAR_STOP(void); //智能小车停止void ZUO_MOTOR_ZZ(void); //智能小车左侧电机正转void ZUO_MOTOR_TZ(void); //智能小车左侧电机停转void YOU_MOTOR_ZZ(void); //智能小车右侧电机正转void YOU_MOTOR_TZ(void); //智能小车右侧电机停转void HWXJ_INIT(void); //红外循迹模块对应的IO口初始化void Voltage_Warning(void); //测量电池电压void Timer0_Init(void); //定时器初始化void LEFT_MOTO(void); //左电机PWM调速函数void RIGHT_MOTO(void); //右电机PWM调速函数void CAR_HWXJ(void); //小车红外循迹函数void CAR_HWBZ(void); //小车红外循迹避障void HWBZ_INIT(void); //红外避障模块对应的IO口初始化void KEY_INIT(void); //KEY对应的IO口初始化void Key1_SCAN(void); //按键扫描void ADC_INIT(void); //AD初始化unsigned char GetADCResult(unsigned char ch);//获取AD值unsigned char pwmval_left = 0; //变量定义unsigned char pwmval_right = 0; //变量定义unsigned char pwmval_left_init = 5; //左电机占空比调节unsigned char pwmval_right_init = 5; //右电机占空比调节bit right_pwm = 1; //右电机PWM开关,为1时打开bit left_pwm = 1; //左电机PWM开关,为1时打开/************************延时函数***************************/void delay(unsigned int t) //delay延时函数{while(t--);}void delay_us(unsigned int t) //delay_us延时函数{unsigned char i;while(t--){i=3;while(i--)delay(1);}}void delay_ms(unsigned int t) //delay_ms延时函数{while(t--) {delay_us(t);}}void Delay5Ms(void) //5ms延时函数{unsigned int TempCyc = 3552;while(TempCyc--);}/**********************LED相关函数*************************/void LED_INIT(void) //LED对应的IO口初始化{P0M1=P0M1&0xcf;P0M0=P0M0&0xcf; //P0.5,P0.4设置为双向IO口 P5M1=P5M1&0xf3;P5M0=P5M0&0xf3; //P5.3,P5.2设置为双向IO口}void Red_Led_On(void) //红色LED亮{Red_LED = 0;}void Red_Led_Off(void) //红色LED灭{Red_LED = 1;}void Blue_Led_On(void) //蓝牙LED亮{Blue_LED = 0;}void Blue_Led_Off(void) //蓝色LED灭{Blue_LED = 1;}void Green_Led_On(void) //绿色LED亮{Green_LED = 0;}void Green_Led_Off(void) //绿色LED灭{Green_LED = 1;}void Yellow_Led_On(void) //黄色LED亮{Yellow_LED = 0;}void Yellow_Led_Off(void) //黄色LED灭{Yellow_LED = 1;}/*********************蜂鸣器相关函数***********************/void BEEP_INIT(void) //蜂鸣器对应的IO口初始化{P4M1=P4M1&0xef;P4M0=P4M0&0xef;}void BEEP_ON(void) //蜂鸣器响{Beep=0;}void BEEP_OFF(void) //蜂鸣器不响{Beep=1;}/*******************液晶LCD1602相关函数********************/void GPIO_1602_Configuration(void) //LCD1602液晶IO口初始化{P2M1=P3M1&0x3f;P2M0=P3M0&0x3f;P3M1=P3M1&0xdf;P3M0=P3M0&0xdf;P4M1=P4M1&0xf1;P4M0=P4M0&0xf1;P5M1=P5M1&0xfd;P5M0=P5M0&0xfd;}unsigned char ReadStatusLCD(void) //测试LCD忙碌状态{LCD_D7 = 1; //LCD的D7置1LCD_RS = 0; //LCD管脚RS设置成低电平 LCD_RW = 1; //LCD管脚RW设置成高电平LCD_EN = 0; //LCD管脚E设置成低电平 LCD_EN = 0; //LCD管脚E设置成低电平 LCD_EN = 1; //LCD管脚E设置成高电平 while(LCD_D7); //检测忙信号return(Busy); //表示当前忙}void WriteCommandLCD(unsigned char WCLCD,BuysC) //BuysC为0时忽略忙检测{if(BuysC) ReadStatusLCD(); //根据需要检测忙LCD_EN = 0; //LCD管脚E设置成低电平 _nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_(); //延时LCD_RS = 0; //LCD管脚RS设置成低电平 LCD_RW = 0; //LCD管脚RW设置成低电平 if((WCLCD&0x80)==0x80){LCD_D7=1;}else{LCD_D7=0;}if((WCLCD&0x40)==0x40){LCD_D6=1;}else{LCD_D6=0;}if((WCLCD&0x20)==0x20){LCD_D5=1;}else{LCD_D5=0;}if((WCLCD&0x10)==0x10){LCD_D4=1;}else{LCD_D4=0;}LCD_EN = 1; //LCD管脚E设置成高电平 LCD_EN = 0; //LCD管脚E设置成低电平 if((WCLCD&0x08)==0x08){LCD_D7=1;}else{LCD_D7=0;}if((WCLCD&0x04)==0x04){LCD_D6=1;}else{LCD_D6=0;}if((WCLCD&0x02)==0x02){LCD_D5=1;}else{LCD_D5=0;}if((WCLCD&0x01)==0x01){LCD_D4=1;}else{LCD_D4=0;}LCD_EN = 1; //LCD管脚E设置成高电平 LCD_EN = 0; //LCD管脚E设置成低电平}void WriteDataLCD(unsigned char WDLCD) //LCD写数据函数{ReadStatusLCD(); //读取LCD状态LCD_EN = 0; //LCD管脚E设置成低电平 _nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_(); //延时LCD_RS = 1; //LCD管脚RS设置成高电平 LCD_RW = 0; //LCD管脚RW设置成低电平 if((WDLCD&0x80)==0x80){LCD_D7=1;}else{LCD_D7=0;}if((WDLCD&0x40)==0x40){LCD_D6=1;}else{LCD_D6=0;}if((WDLCD&0x20)==0x20){LCD_D5=1;}else{LCD_D5=0;}if((WDLCD&0x10)==0x10){LCD_D4=1;}else{LCD_D4=0;}LCD_EN = 1; //LCD管脚E设置成高电平 LCD_EN = 0; //LCD管脚E设置成低电平 if((WDLCD&0x08)==0x08){LCD_D7=1;}else{LCD_D7=0;}if((WDLCD&0x04)==0x04){LCD_D6=1;}else{LCD_D6=0;}if((WDLCD&0x02)==0x02){LCD_D5=1;}else{LCD_D5=0;}if((WDLCD&0x01)==0x01){LCD_D4=1;}else{LCD_D4=0;}LCD_EN = 1; //LCD管脚E设置成高电平LCD_EN = 0; //LCD管脚E设置成低电平}void LCDInit(void) //LCD初始化{LCD_D7=0;LCD_D6=0;LCD_D5=0;LCD_D4=0;WriteCommandLCD(0x28,0);Delay5Ms(); //三次显示模式设置WriteCommandLCD(0x28,0);Delay5Ms();WriteCommandLCD(0x28,0);Delay5Ms();WriteCommandLCD(0x28,1); //显示模式设置WriteCommandLCD(0x08,1); //关闭显示WriteCommandLCD(0x01,1); //显示清屏WriteCommandLCD(0x06,1); //显示光标移动设置WriteCommandLCD(0x0C,1); //显示开及光标设置}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1if (Y) X |= 0x40; //当要显示第二行时地址码+0x40;X |= 0x80; //算出指令码WriteCommandLCD(X,0); //这里不检测忙信号，发送地址码WriteDataLCD(DData); //发送数据}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1while(DData[ListLength]>=0x20) //若到达字串尾则退出{if (X <= 0xF) //X坐标应小于0xF{DisplayOneChar(X, Y, DData[ListLength]);//显示单个字符ListLength++;X++;}}}/********************电机控制相关函数**********************/void GPIO_MOTOR_Configuration(void) //电机控制IO口初始化{P0M1=P0M1&0x3f;P0M0=P0M0&0x3f;P1M1=P1M1&0x3b;P1M0=P1M0&0x3b;P4M1=P4M1&0x7f;P4M0=P4M0&0x7f;}void CAR_FORWARD(void) //智能小车前进{ZUO_MOTOR_ZZ();YOU_MOTOR_ZZ();} //智能小车左侧电机正转，右侧电机正转void CAR_LEFT(void) //智能小车左转{ZUO_MOTOR_TZ();YOU_MOTOR_ZZ();} //智能小车左侧电机停转，右侧电机正转void CAR_RIGHT(void) //智能小车右转{ZUO_MOTOR_ZZ();YOU_MOTOR_TZ();} //智能小车左侧电机正转，右侧电机停转void CAR_STOP(void) //智能小车停止{ZUO_MOTOR_TZ();YOU_MOTOR_TZ();} //智能小车左侧电机停转，右侧电机停转void ZUO_MOTOR_ZZ(void) //智能小车左侧电机正转{U6_L293D_In1_In3=1;U6_L293D_In2_In4=0;}void ZUO_MOTOR_TZ(void) //智能小车左侧电机停转{U6_L293D_In1_In3=0;U6_L293D_In2_In4=0;}void YOU_MOTOR_ZZ(void) //智能小车右侧电机正转{U7_L293D_In1_In3=0;U7_L293D_In2_In4=1;}void YOU_MOTOR_TZ(void) //智能小车右侧电机停转{U7_L293D_In1_In3=0;U7_L293D_In2_In4=0;} void LEFT_MOTO(void){if(left_pwm){if(pwmval_left<=pwmval_left_init){U6_L293D_En1_En2=1;}else if(pwmval_left>pwmval_left_init){U6_L293D_En1_En2=0;}if(pwmval_left>=20){pwmval_left=0;}}else{U6_L293D_En1_En2=0;}}void RIGHT_MOTO(void){if(right_pwm){if(pwmval_right<=pwmval_right_init){U7_L293D_En1_En2=1;}else if(pwmval_right>pwmval_right_init){U7_L293D_En1_En2=0;}if(pwmval_right>=20){pwmval_right = 0;}}else{U7_L293D_En1_En2=0;}}/********************红外循迹相关函数**********************/void HWXJ_INIT(void) //红外循迹模块对应的IO口初始化{P2M1=P2M1&0xe2;P2M0=P2M0&0xe2;} //P2.0,P2.2,P2.3,P2.4设置为双向IO口void CAR_HWXJ(void) //小车红外循迹函数{//探测到黑线为1，没有探测到黑线为0if((HW_LEFT_WAI==0)&&(HW_LEFT_NEI==0)&&(HW_RIGHT_NEI==0)&&(HW_RIGHT_WAI==0))//如果左外，左内，右内，右外循迹传感器都没有感应到黑线{pwmval_left_init=5;pwmval_right_init=5; //左右电机占空比调节CAR_FORWARD(); //小车前进}else if((HW_LEFT_WAI==1)&&(HW_LEFT_NEI==1)&&(HW_RIGHT_NEI==0)&&(HW_RIGHT_WAI==0))//如果左外，左内循迹传感器都感应到黑线；右内，右外循迹传感器没有感应到黑线 {pwmval_left_init=6;pwmval_right_init=6; //左右电机占空比调节CAR_LEFT(); //小车左转}else if((HW_LEFT_WAI==1)&&(HW_LEFT_NEI==0)&&(HW_RIGHT_NEI==0)&&(HW_RIGHT_WAI==0))//如果左外循迹传感器都感应到黑线；左内，右内，右外循迹传感器没有感应到黑线 {pwmval_left_init=6;pwmval_right_init=6; //左右电机占空比调节CAR_LEFT(); //小车左转}else if((HW_LEFT_WAI==0)&&(HW_LEFT_NEI==1)&&(HW_RIGHT_NEI==0)&&(HW_RIGHT_WAI==0))//如果左内循迹传感器都感应到黑线；左外，右内，右外循迹传感器没有感应到黑线 {pwmval_left_init=6;pwmval_right_init=6; //左右电机占空比调节CAR_LEFT(); //小车左转}else if((HW_LEFT_WAI==0)&&(HW_LEFT_NEI==0)&&(HW_RIGHT_NEI==1)&&(HW_RIGHT_WAI==1))//如果右外，右内循迹传感器都感应到黑线；左内，左外循迹传感器没有感应到黑线 {pwmval_left_init=6;pwmval_right_init=6; //左右电机占空比调节CAR_RIGHT(); //小车右转}else if((HW_LEFT_WAI==0)&&(HW_LEFT_NEI==0)&&(HW_RIGHT_NEI==1)&&(HW_RIGHT_WAI==0))//如果右内循迹传感器都感应到黑线；左外，左内，右外循迹传感器没有感应到黑线 {pwmval_left_init=6;pwmval_right_init=6; //左右电机占空比调节CAR_RIGHT(); //小车右转}else if((HW_LEFT_WAI==0)&&(HW_LEFT_NEI==0)&&(HW_RIGHT_NEI==0)&&(HW_RIGHT_WAI==1))//如果右外循迹传感器都感应到黑线；左外，左内，右内循迹传感器没有感应到黑线 {pwmval_left_init=6;pwmval_right_init=6; //左右电机占空比调节CAR_RIGHT(); //小车右转}}/********************红外避障相关函数**********************/void HWBZ_INIT(void) //红外避障模块对应的IO口初始化{P2M1=P2M1&0xdd;P2M0=P2M0&0xdd;}void CAR_HWBZ(void) //小车红外循迹避障{if((HW_LEFT==0)||(HW_RIGHT==0)){CAR_STOP();}}//感应到障碍物，小车停止/********************按键扫描相关函数**********************/void KEY_INIT(void) //KEY对应的IO口初始化{P0M1=P0M1&0xcf;P0M0=P0M0&0xcf; //P0.5,P0.4设置为双向IO口P5M1=P5M1&0xf3;P5M0=P5M0&0xf3; //P5.3,P5.2设置为双向IO口}void Key1_SCAN(void) //按键扫描{LOOP:if(Key_1 == 0) //判断按键是否被按下 {delay_us(20);if(Key_1 == 0) //第二次判断按键是否被按下{BEEP_ON(); //蜂鸣器响while(Key_1 == 0); //判断按键是否被松开BEEP_OFF(); //蜂鸣器停止}else{goto LOOP;} //跳转到loop处重新扫描}else{goto LOOP;} //跳转到loop处重新扫描}/******************电池电量监测相关函数********************/void ADC_INIT(void) //AD初始化{P1ASF = 0x08;ADC_RES = 0;ADC_CONTR = ADC_POWER|ADC_SPEEDLL;}unsigned char GetADCResult(unsigned char ch) //获取AD值{ADC_CONTR = ADC_POWER|ADC_SPEEDLL|ch|ADC_START;delay(4);while(!(ADC_CONTR&ADC_FLAG));ADC_CONTR&=~ADC_FLAG;return ADC_RES;}void Voltage_Warning(void) //电压报警函数{u8 AD_RESULT;float temp;unsigned int tempA;unsigned char disbuff[4]={0,0,0,0};AD_RESULT = GetADCResult(0x03); //读取电压值temp =((float)AD_RESULT/256)*5*2; //数值转换tempA = temp*1000;disbuff[3]=tempA/10000;disbuff[2]=tempA/1000%10;disbuff[1]=tempA/100%10;disbuff[0]=tempA/10%10;DisplayOneChar(2,1,(0x30+disbuff[3]));Delay5Ms();//显示电压值DisplayOneChar(3,1,(0x30+disbuff[2]));Delay5Ms();//显示电压值DisplayOneChar(5,1,(0x30+disbuff[1]));Delay5Ms();//显示电压值DisplayOneChar(6,1,(0x30+disbuff[0]));Delay5Ms();//显示电压值if(temp<=warning_voltage)//如果读取到的电压值小于等于设定的报警电压值warning_voltage{while(1){BEEP_ON(); //蜂鸣器响Red_Led_On();Blue_Led_On(); //红色LED亮，蓝牙LED亮 Green_Led_On();Yellow_Led_On(); //绿色LED亮，黄色LED亮 DisplayListChar(13,1,VlotageLow);delay_ms(200);//在LCD中显示LOWBEEP_OFF(); //蜂鸣器不响Red_Led_Off();Blue_Led_Off(); //红色LED灭，蓝色LED灭 Green_Led_Off();Yellow_Led_Off(); //绿色LED灭，黄色LED灭 DisplayListChar(13,1,Space3);delay_ms(200);}}}/********************定时器0初始化函数*********************/void Timer0_Init(void) //定时器初始化{TMOD= 0x01;TH0=0xf1;TL0=0x9a; //2ms定时TR0 = 1;ET0 = 1;EA = 1; //开总中断}/*************************主函数**************************/void main(void){GPIO_MOTOR_Configuration(); //电机控制IO口初始化CAR_STOP(); //智能小车停止GPIO_1602_Configuration();delay_ms(10); //LCD1602液晶IO口初始化LCDInit();delay_ms(10); //LCD1602初始化LED_INIT(); //LED对应的IO口初始化BEEP_INIT(); //蜂鸣器对应的IO口初始化ADC_INIT(); //处理器AD转换初始化KEY_INIT(); //KEY对应的IO口初始化HWXJ_INIT(); //红外循迹模块对应的IO口初始化 HWBZ_INIT(); //红外避障模块对应的IO口初始化 delay_ms(10); //延时BEEP_ON(); //蜂鸣器响Red_Led_On();Blue_Led_On(); //红色LED亮，蓝牙LED亮Green_Led_On();Yellow_Led_On(); //绿色LED亮，黄色LED亮delay_ms(500); //延时BEEP_OFF(); //蜂鸣器不响Red_Led_Off();Blue_Led_Off(); //红色LED灭，蓝色LED灭Green_Led_Off();Yellow_Led_Off(); //绿色LED灭，黄色LED灭delay_ms(500); //延时DisplayListChar(3,0,Start);delay_ms(10); //LCD1602显示CAR START DisplayListChar(0,1,Voltage);delay_ms(10);Voltage_Warning(); //电压报警函数DisplayListChar(11,1,PressKey1);delay_ms(10);//LCD1602显示P: K1Key1_SCAN(); //按键扫描Timer0_Init(); //定时器初始化delay_ms(10); //延时DisplayListChar(0,0,Space1);delay_ms(10); //LCD1602显示DisplayListChar(0,1,Space1);delay_ms(10); //LCD1602显示DisplayListChar(5,0,Hwxjbz);delay_ms(10); //LCD1602显示HWXJBZwhile(1){if((HW_LEFT == 0)||(HW_RIGHT == 0)){CAR_HWBZ();}//小车左右2个红外避障传感器任何一个感应到障碍物，小车红外循迹避障else{CAR_HWXJ();}//小车左右2个红外避障传感器都没有感应到障碍物，小车红外循迹函数}}/******************定时器0中断处理函数*******************/void timer0()interrupt 1 using 2 //定时器0中断处理{TH0=0xf1;TL0=0x9a; //2ms定时pwmval_left=pwmval_left + 1;pwmval_right=pwmval_right + 1;LEFT_MOTO();RIGHT_MOTO();}。
