#include
#include
#include
#include
#include
#define uchar unsigned char//无符号字符型占用一个字节 范围0~255,
#define uint unsigned int/*无符号整型占用二个字节 范围0~65535*/
#define dataPort P1
uchar bianma1;//编码计数
uint yejinjishu=0; //液晶计数
uchar wang=1;
uchar guo=1;
uchara1=0,a2=0,a3=0,a4=0; //小车方向判断
ucharb1=0,b2=0,b3=0,b4=0;
//电机操作初始化
uchar i=0,j=0; /* 中断计数器 */
uchar m1=0; /* 电机1速度值 */
uchar m2=0; /* 电机2速度值 */
sbit s1=P0^0; /* L298的Input 1 */
sbit s2=P0^1; /* L298的Input 2 */
sbit s3=P0^2; /* L298的Input 3 */
sbit s4=P0^3; /* L298的Input 4 */
sbit en1=P0^4; /* L298的Enable A */
sbit en2=P0^5; /* L298的Enable B */
//寻线 红外接收头 初始化
sbit P2_2=P3^1;
sbit P2_3=P2^3;
sbit P2_4=P2^4;
sbit P2_5=P2^5;
sbit P2_6=P2^6;
sbit P2_7=P2^7;
//按键初始化
sbit markkey=P2^0;
sbit logokey=P2^1;
uchar mark=0;//选线while 标志
uchar logo=0;//最佳路线行走标记
unsigned char idata road[30]; //转向数组
unsigned char code aa[10][4]={"LBL","LBA","ABL","ABA","ABR","RBA","RBR","RBL","LBR"};//数组无需改变 code
unsigned char codea[10][2]={"A","R","R","B","L","L","A","B","B"};
unsigned char idata *p; //地址寄存器 用于字符串操作
//unsigned char idatacun24c02[15];//ram允许情况可以无限添加 记忆数组
// 函数初始化
void KEY();
void line();
void stop();
void youlun();
void zuolun();
void zhizou();
void zhizou1();
void zhizou2();
void ISD1420p(uchar t1,uint t2);
void Run_SNAKE(void);
/********简易延时函数******/
void delay(uint t)
{
for(t;t>0;t--);
}
void DelayUs(uint us)//标准延时 us
{
unsigned char uscnt;
uscnt=us>>1;
while(--uscnt);
}
void DelayMs(uint ms)//标准延时 ms
{
while(--ms)
{
DelayUs(250);
DelayUs(250);
DelayUs(250);
DelayUs(250);
}
}
//595 初始化 串转并
/*sbit sclk=P3^0;
sbit dat=P3^1;
sbit st = P2^1;
void write595(uchar wrdat)
{
uchar sum;
for(sum=0;sum<8;sum++)
{
sclk=0;
dat=wrdat&0x80;
wrdat<<=1;
sclk=1;
}
st=0;
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
st=1;
} */
sbit SDA=P0^6;//sbit dat=P3^1;
sbit SCL=P2^2;//sbit sclk=P3^0;
sbit jiyibiaozhi=P0^7;//st = P2^1;
void write595(uchar wrdat)
{
uchar sum;
for(sum=0;sum<8;sum++)
{
SCL=0;
SDA=wrdat&0x80;
wrdat<<=1;
SCL=1;
}
jiyibiaozhi=0;
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
jiyibiaozhi=1;
}
/*******************************************************
********************************************************
***************24c02部分*********************************
********************************************************
*******************************************************
#define_Nop()_nop_()//定义空指令
bit ack; //应答标志位
//sbit SDA=P2^1;
//sbit SCL=P2^0;
/*------------------------------------------------
启动总线
------------------------------------------------
void Start_I2c()
{
SDA=1; //发送起始条件的数据信号
_Nop();
SCL=1;
_Nop(); //起始条件建立时间大于4.7us,延时
_Nop();
_Nop();
_Nop();
_Nop();
SDA=0; //发送起始信号
_Nop(); //起始条件锁定时间大于4μ
_Nop();
_Nop();
_Nop();
_Nop();
SCL=0; //钳住I2C总线，准备发送或接收数据
_Nop();
_Nop();
}
/*------------------------------------------------
结束总线
-----------------------------------------------
void Stop_I2c()
{
SDA=0; //发送结束条件的数据信号
_Nop(); //发送结束条件的时钟信号
SCL=1; //结束条件建立时间大于4μ
_Nop();
_Nop();
_Nop();
_Nop();
_Nop();
SDA=1; //发送I2C总线结束信号
_Nop();
_Nop();
_Nop();
_Nop();
}
/*----------------------------------------------------------------
字节数据传送函数
函数原型: voidSendByte(unsigned char c);
功能:将数据c发送出去,可以是地址,也可以是数据,发完后等待应答,并对
此状态位进行操作.(不应答或非应答都使ack=0 假)
发送数据正常，ack=1; ack=0表示被控器无应答或损坏。
------------------------------------------------------------------
voidSendByte(unsigned char c)
{
unsigned char BitCnt;
for(BitCnt=0;BitCnt<8;BitCnt++)//要传送的数据长度为8位
{
if((c<
elseSDA=0;
_Nop();
SCL=1;//置时钟线为高，通知被控器开始接收数据位
_Nop();
_Nop();//保证时钟高电平周期大于4μ
_Nop();
_Nop();
_Nop();
SCL=0;
}
_Nop();
_Nop();
SDA=1;//8位发送完后释放数据线，准备接收应答位
_Nop();
_Nop();
SCL=1;
_Nop();
_Nop();
_Nop();
if(SDA==1)ack=0;
else ack=1; //判断是否接收到应答信号
SCL=0;
_Nop();
_Nop();
}
/*----------------------------------------------------------------
字节数据传送函数
函数原型: unsigned charRcvByte();
功能:用来接收从器件传来的数据,并判断总线错误(不发应答信号)，
发完后请用应答函数。
------------------------------------------------------------------
unsigned charRcvByte()
{
unsigned char retc;
unsigned char BitCnt;
retc=0;
SDA=1;//置数据线为输入方式
for(BitCnt=0;BitCnt<8;BitCnt++)
{
_Nop();
SCL=0; //置时钟线为低，准备接收数据位
_Nop();
_Nop(); //时钟低电平周期大于4.7us
_Nop();
_Nop();
_Nop();
SCL=1; //置时钟线为高使数据线上数据有效
_Nop();
_Nop();
retc=retc<<1;
if(SDA==1)retc=retc+1; //读数据位,接收的数据位放入retc中
_Nop();
_Nop();
}
SCL=0;
_Nop();
_Nop();
return(retc);
}
/*----------------------------------------------------------------
应答子函数
原型:void Ack_I2c(void);
---------------------------------------------------------------
void Ack_I2c(void)
{
SDA=0;
_Nop();
_Nop();
_Nop();
SCL=1;
_Nop();
_Nop(); //时钟低电平周期大于4μ
_Nop();
_Nop();
_Nop();
SCL=0;//清时钟线，钳住I2C总线以便继续接收
_Nop();
_Nop();
}
/*----------------------------------------------------------------
非应答子函数
原型:void NoAck_I2c(void);
----------------------------------------------------------------
void NoAck_I2c(void)
{
SDA=1;
_Nop();
_Nop();
_Nop();
SCL=1;
_Nop();
_Nop(); //时钟低电平周期大于4μ
_Nop();
_Nop();
_Nop();
SCL=0;//清时钟线，钳住I2C总线以便继续接收
_Nop();
_Nop();
}
/*----------------------------------------------------------------
向有子地址器件发送多字节数据函数
函数原型: bitISendStr(unsigned char sla,unsigned char suba,ucahr *s,unsigned char no);
功能: 从启动总线到发送地址，子地址,数据，结束总线的全过程,从器件
地址sla，子地址suba，发送内容是s指向的内容，发送no个字节。
如果返回1表示操作成功，否则操作有误。
注意： 使用前必须已结束总线。
----------------------------------------------------------------
bit ISendStr(unsigned char sla,unsigned char suba,unsigned char *s,unsigned char no)
{
unsigned char i;
for(i=0;i
{
Start_I2c();//启动总线
SendByte(sla);//发送器件地址
if(ack==0)return(0);
SendByte(suba); //发送器件子地址
if(ack==0)return(0);
SendByte(*s); //发送数据
if(ack==0)return(0);
Stop_I2c();//结束总线
DelayMs(1);//必须延时等待芯片内部自动处理数据完毕
s++;
suba++;
}
return(1);
}
/*----------------------------------------------------------------
向有子地址器件读取多字节数据函数
函数原型: bitISendStr(unsigned char sla,unsigned char suba,ucahr *s,unsigned char no);
功能: 从启动总线到发送地址，子地址,读数据，结束总线的全过程,从器件
地址sla，子地址suba，读出的内容放入s指向的存储区，读no个字节。
如果返回1表示操作成功，否则操作有误。
注意： 使用前必须已结束总线。
---------------------------------------------------------------
bit IRcvStr(unsigned char sla,unsigned char suba,unsigned char *s,unsigned char no)
{
unsigned char i;
Start_I2c();//启动总线
SendByte(sla);//发送器件地址
if(ack==0)return(0);
SendByte(suba); //发送器件子地址
if(ack==0)return(0);
Start_I2c();
SendByte(sla+1);
if(ack==0)return(0);
for(i=0;i
{
*s=RcvByte(); //发送数据
Ack_I2c();//发送就答位
s++;
}
*s=RcvByte();
NoAck_I2c();//发送非应位
Stop_I2c();//结束总线
return(1);
}
/*------------------------------------------------
主函数
------------------------------------------------
main()
{
//bit flag;
unsigned char i;
DelayMs(6000);
ISendStr(0xae,80,dat,5); //写入24c02
DelayMs(10); //写入后必须延时等待24c02内部
//烧录数据处理完毕方可继续其他操作
IRcvStr(0xae,80,dat1,5);//从24c02读出数据
while(1)
{
for(i=0;i<5;i++) //查表
{
DelayMs(2000);
P1=dat1[i];
}
}
}*/
/*****************************************************
******************************************************
**********************12864部分***********************
******************************************************
*****************************************************/
sbit rs=P3^7;
sbit rw=P3^6;
sbit en=P3^5;
sbit psb=P3^4;
sbit rst=P3^3;
uchar key1=1,key2=1,key3=1,key4=1;
void checkBusy(void) //判忙
{
rs=0;
rw=1;
en=1;
dataPort=0xff;
while(dataPort & 0x80);
en=0;
}
void writeCommand(unsigned char cmd) //写命令
{
checkBusy();
rs=0;
rw=0;
en=1;
dataPort=cmd;
_nop_();
en=0;
}
void writeData(unsigned char adata) //写数据
{
checkBusy();
rs=1;
rw=0;
en=1;
dataPort=adata;
_nop_();
en=0;
}
unsigned char readData(void) //读数据
{
unsigned char RData;
dataPort=0xff;
checkBusy();
rs=1;
rw=1;
en=0;
en=1;
RData=dataPort;
en=0;
return RData;
}
void ClrGDRAM(void) //显示用户自定义字符
{
unsigned char x,y;
for(y=0;y<64;y++)
for(x=0;x<16;x++)
{
writeCommand(0x34);
writeCommand(y+0x80); //行地址
writeCommand(x+0x80); //列地址
writeCommand(0x30);
writeData(0x00);
writeData(0x00);
}
//writeCommand(0x30);
}
void LcmInit(void) //12864初始化
{
writeCommand(0x30);
DelayMs(50);
writeCommand(0x01);
DelayMs(50);
writeCommand(0x06);
DelayMs(50);
writeCommand(0x0c);
ClrGDRAM();
psb=1;
}
/* 清屏*/
void ClrScreen()
{
writeCommand(0x01);
DelayMs(15);
}
/*画点打点位置(x0,y0);color=1,点亮；color=0,擦除*/
void drawPoint(unsigned char x,unsigned char y,unsigned char color)
{
unsigned char row,collum,cbite;
unsigned char tempH,tempL;
writeCommand(0x34);
writeCommand(0x36);
collum=x>>4;
cbite=x&0x0f;
if(y<32)
row=y;
else
{row=y-32;
collum+=8;
}
writeCommand(0x80+row);
writeCommand(0x80+collum);
readData();
tempH=readData();
tempL=readData();
writeCommand(0x80+row);
writeCommand(0x80+collum);
if (color)
{
if(cbite<8)
{
tempH|=(1<
}
else
{
tempL|=(1<
}
}
else
{
if(cbite<8)
{
tempH&=~(1<
}
else
{
tempL&=~(1<
}
}
writeData(tempH);
writeData(tempL);
writeCommand(0x30);
}
/**3X3个点合为一个**/
void drawPoint_3(unsigned char x,unsigned char y, unsigned char color)
{
drawPoint(x,y,color);
drawPoint(x+1,y,color);
drawPoint(x-1,y,color);
drawPoint(x+1,y-1,color);
drawPoint(x,y-1,color);
drawPoint(x-1,y-1,color);
drawPoint(x-1,y+1,color);
drawPoint(x,y+1,color);
drawPoint(x+1,y+1,color);
}
void QCRAM()//清楚RAM
{
uchar x,y;
uchar color=0;
for(x=0;x<=128;x++)
for(y=0;y<=80;y++)
drawPoint(x,y,color);
}
#define SNAKE_Max_Long 20 //最大长度
struct
{
uchar X[SNAKE_Max_Long];
uchar Y[SNAKE_Max_Long];
uchar Long;
}Snake; //小车结构体
void Init_SNAKE(void)
{
uchar sum;
Snake.Long=2; //定义初始化小车的长度
for(sum=0;sum
{
Snake.X[sum]=sum+20;
Snake.Y[sum]=20;
}
for(sum=0;sum
{
drawPoint_3(Snake.X[sum],Snake.Y[sum],1);
}
}
void keyscan() //转弯检测
{
if(!key1||!key2||!key3||!key4)
{
Run_SNAKE();
if(key1==0)
{
key1=1;
a1=0;
a2=0;
a3=0;
a4=1;
}
if(key2==0)
{
key2=1;
a1=1;
a2=0;
a3=0;
a4=0;
}
if(key3==0)
{
key3=1;
a1=0;
a2=1;
a3=0;
a4=0;
}
if(key4==0)
{
key4=1;
a1=0;
a2=0;
a3=1;
a4=0;
}
}
}
void Run_SNAKE(void) //小车运动方向
{
uchar sum=0;
/***小车的运动方向**/
if(a1==1)
{
if(b1==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+1; //小车头向你要求的方向移动
}
if(b2==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]-1; //小车头向你要求的方向移动
}
if(b3==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]-1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(b4==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(!key1||!key2||!key3||!key4)
{
if(b1==1)
{
b1=0;
b2=1;
b3=0;
b4=0;
}
else if(b2==1)
{
b1=1;
b2=0;
b3=0;
b4=0;
}
else if(b3==1)
{
b1=0;
b2=0;
b3=0;
b4=1;
}
else if(b4==1)
{
b1=0;
b2=0;
b3=1;
b4=0;
}
}
}
if(a2==1)
{
if(b1==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]-1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(b2==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(b3==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]-1; //小车头向你要求的方向移动
}
if(b4==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+1; //小车头向你要求的方向移动
}
if(!key1||!key2||!key3||!key4)
{
if(b1==1)
{
b1=0;
b2=0;
b3=0;
b4=1;
}
else if(b2==1)
{
b1=0;
b2=0;
b3=1;
b4=0;
}
else if(b3==1)
{
b1=1;
b2=0;
b3=0;
b4=0;
}
else if(b4==1)
{
b1=0;
b2=1;
b3=0;
b4=0;
}
}
}
if(a3==1)
{
if(b1==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(b2==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]-1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(b3==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+1; //小车头向你要求的方向移动
}
if(b4==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]-1; //小车头向你要求的方向移动
}
if(!key1||!key2||!key3||!key4)
{
if(b1==1)
{
b1=0;
b2=0;
b3=1;
b4=0;
}
else if(b2==1)
{
b1=0;
b2=0;
b3=0;
b4=1;
}
else if(b3==1)
{
b1=0;
b2=1;
b3=0;
b4=0;
}
else if(b4==1)
{
b1=1;
b2=0;
b3=0;
b4=0;
}
}
}
if(a4==1)
{
if(b1==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]-1; //小车头向你要求的方向移动
}
if(b2==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+0;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+1; //小车头向你要求的方向移动
}
if(b3==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]+1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(b4==1)
{
for(sum=0;sum
{
Snake.X[sum]=Snake.X[sum+1];
Snake.Y[sum]=Snake.Y[sum+1];
}
Snake.X[Snake.Long-1]=Snake.X[Snake.Long-2]-1;
Snake.Y[Snake.Long-1]=Snake.Y[Snake.Long-2]+0; //小车头向你要求的方向移动
}
if(!key1||!key2||!key3||!key4)
{
if(b1==1)
{
b1=1;
b2=0;
b3=0;
b4=0;
}
else if(b2==1)
{
b1=0;
b2=1;
b3=0;
b4=0;
}
else if(b3==1)
{
b1=0;
b2=0;
b3=1;
b4=0;
}
else if(b4==1)
{
b1=0;
b2=0;
b3=0;
b4=1;
}
}
}
}
/*******************************************
********************************************
*************小车部分***********************
********************************************
********************************************/
/********外部中断定义*************/
void ini()
{
//EA=1; //全局中断开
EX0=0; //外部中断0开
IT0=1; //边缘触发
//EX1=0; //外部中断1开
//IT1=1; //电平触发
}
/*****外部中断0函数*****/
void ini_t0() interrupt 0
{
bianma1--;
}
/********pwm中断调速定义*************/
void pwm()
{
TMOD=0x01; /* 设定T0的工作模式为2 */
TH0=(65536-100)/256; /* 装入定时器的初值 晶振20MHZ 每100us中断一次10次(即1MS)为1个PWM周期*/
TL0=(65536-100)%256;
EA=1; /* 开总中断 */
ET0=1; /* 定时器0允许中断 */
TR0=1; /* 启动定时器0 */
PT0=1;//高优先级
}
/*****定时中断函数2*****/
void timer0() interrupt 1 /* T0中断服务程序 */
{
i++;
j++;
if(i<=m1) en1=1;
else en1=0;
if(j<=m2) en2=1;
else en2=0;
if(i==100){i=0;}
if(j==100){j=0;}
TH0=(65536-100)/256;
TL0=(65536-100)%256;
}
//岔路口 转向记录
void crossing(uchar save)
{
if(save=='A'){strcat(road,"A");}
if(save=='B'){strcat(road,"B");}
if(save=='R'){strcat(road,"R");}
if(save=='L'){strcat(road,"L");}
if(save=='D'){strcat(road,"D");}
if(save=='0'){strcat(road,"\0");}
}
//记忆路径播音
void boyin(uchar save)
{
if(save=='A'){stop();ISD1420p(3,1200);}
if(save=='B'){stop();ISD1420p(2,1200);}
if(save=='R'){stop();ISD1420p(1,1200);}
if(save=='L'){stop();ISD1420p(0,1200);}
if(save=='D'){stop();while(!markkey){logokey=0;DelayMs(3000) ;logokey=1;guo=0;}ISD1420p(2,1200);}
}
/*// 存入24c02
void cunru24c02()
{
uchar sum=0;
while(*p)
{
if(*p=='A')cun24c02[sum]=0x01;
if(*p=='B')cun24c02[sum]=0x02;
if(*p=='R') cun24c02[sum]=0x03;
if(*p=='L') cun24c02[sum]=0x04;
p++;
sum++;
}
cun24c02[sum]=0;
EA=0;//关掉中断
ISendStr(0xae,80,cun24c02,15); //写入24c02
DelayMs(10); //写入后必须延时等待24c02内部
EA=1;//开启中断
}
// 取出24c02
void quchu24c02()
{
uchar sum=0;
while(cun24c02[sum])
{
if(cun24c02[sum]==0x01)strcat(p,"A");
if(cun24c02[sum]==0x02)strcat(p,"B");
if(cun24c02[sum]==0x03) strcat(p,"R");
if(cun24c02[sum]==0x04) strcat(p,"L");
sum++;
}
strcat(p,"\0");
EA=0;//关掉中断
IRcvStr(0xae,80,p,15);//从24c02读出数据
EA=1;//开启中断
} */
/******************************************************
*******************************************************
************ISD1420p语音播报***************************
*******************************************************
*******************************************************/
sbit playe=P3^0;
uchar code temp[8]={0x00,0x10,0x20,0x30,0x40,0x50,0x70,0x90};
/* 0x00//左转 延时400Ms
0x10//右转 延时400Ms
0x20//掉头 延时400Ms
0x30//直走 延时400Ms
0x40//到达终点 延时800Ms
0x50//最优路径计算完毕延时1600Ms
0x70//最优路径行驶延时1600Ms
0x90//智能迷宫小车 延时1600Ms */
void ISD1420p(uchar t1,uint t2)
{
playe=1;
write595(temp[t1]);
playe=0;
DelayMs(t2);
DelayMs(t2);
playe=1;
/* P1=0;
playe=1;
P1=temp[t1];
playe=0;
DelayMs(t2);
DelayMs(t2);
P1=0;
playe=1; */
}
/********************************************
*********************************************
*****************最优路线计算****************
*********************************************
*********************************************/
int pq(char s1[],char s2[],char ee)
{
int opo=0;
int w=0;
int i;
int k;
int j;
for(i=0;s1[i];i++)
{
j=i;
for(k=0;s2[k];k++)
if(s1[j]&&s1[j]==s2[k])j++;
else break;
if(!s2[k])
{
opo=i;
w++;
if(ee==1)break;
}
}
if(w==1)return opo;
else return -1;
}
char* str_text(){
int j,i,k,f=1,f2=1;//i用于计数f内层标记 f2外层标记
do{
for(i=0;i<9;i++,f=1)
{
do
{
j=pq(road,aa[i],1);//选出匹配字符串下标
if(j==-1)break;
else
{ road[j]=a[i][0];
while(road[j+3]){road[j+1]=road[j+3];j++;}
road[j+1]='\0';
}
}while(1);//判断本次匹配替换是否结束，如果否 继续匹配并替换
}//for循环结束
//*******校验
for(k=0;k<9;k++)
{
j=pq(road,aa[k],1);
if(j!=-1)
{
f2=1;break;//判断是否仍然有匹配项目，如果有重新执行内层do~while语句
}else{f2=0;}
}//校验for结束
}while(f2==1); //外层do while 用于校验
return road;//road首地址
//printf("%s\n",turn2);scanf("%s",c);
}
/******************************************************
*******************************************************
*************小车路径处理******************************
*******************************************************
*******************************************************/
/******************路口误差排除函数********************/
uchar you=0;
………完整代码请下载附件………
