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51单片机智能小车：实现避障、跟随及循迹功能

目录

基本概述

硬件组成

功能

关键字

模块介绍

电机模块L9110S

循迹模块（TCRT5000传感器）

红外避障模块

测速模块 

小车 

移动小车（控制电机转动，使小车前进、后退、左转、右转 ）

遥控小车（ 使用蓝牙模块，通过串口发送信息控制小车移动）

调速小车（利用PWM波对电机进行调速）

循迹小车 （利用循迹模块进行黑白色的检测）

跟随小车（利用红外避障模块完成跟随行为）

避障小车（利用超声波测距完成避障行为）

语音控制小车，循迹、跟随、避障三种功能切换

基本概述

硬件组成

电机模块L9110S、循迹模块、红外避障模块、超声波模块、测速模块、OLED屏、蓝牙模块、4G，模块、语音模块SU-03T

功能

蓝牙控制小车、WiFi控制小车、4G控制小车、小车的避障、跟随、循迹

关键字

单片机中一般都有两块存储区域，ROM和RAM，程序代码存储在ROM中，程序要用的变量存储在RAM中。而“code”的作用就是将其修饰过的变量存储在ROM中而非RAM。 在单片机中，RAM空间都比较小，是比较宝贵的，当存放在RAM中的数据过多时，会导致编译不成功。

  • exturn：使用exturn关键字修饰的全局变量或函数，作用域不再局限本文件，其他文件同样能访问到这些变量或函数，跟static关键字恰恰相反。
  • code：使用code关键字修饰的变量（一般是初始化后，值保持不变的变量）后会被存放到ROM区，从而节省RAM的空间。

    • 模块介绍

    电机模块L9110S

    L0110S模块的A、B分别控制着两个电机，如果需要控制四个电机，则需要两个L0110S模块

  • 当B-1A为高电平，B-2A为低电平时，电机反转或正转
  • 当B-1A为低电平，B-2A为高电平时，电机正转反转
  • 当B-1A为低电平，B-2A为低电平时，电机不转
  • 电机的正转和反转与跟电机的接线不同而不同，注意自己调试

    • 循迹模块（TCRT5000传感器）

  • 当发射出的红外线没有被反射回来或被反射回来但强度不够大时，DO输出高电平，灯灭。 黑色吸收红外线，DO输出高电平，灯亮
  • 当发射出的红外线被反射回来或被反射回来且强度足够大，DO输出低电平，灯亮。 白色反射红外线，DO输出低电平，灯亮
  • 即黑色输出高电平，灯灭，白色输出低电平，灯亮

    • 红外避障模块

  • 当发射出的红外线没有被反射回来或被反射回来但强度不够大时，DO输出高电平，灯灭。没有障碍物
  • 当发射出的红外线被反射回来，DO输出低电平，灯亮。有障碍物
  • 即有障碍物输出低电平，灯亮，没有障碍物输出高电平，灯灭

    • 测速模块 

  • 发射的红外线被物体遮挡时，输出高电平，发射的红外线没被物体遮挡时，输出低电平
  • 有物体高电平，没物体低电平
  • 当搭配小车测速盘，会形成下降沿（有遮挡高电平，没遮挡低电平）

    • 小车 

    移动小车（控制电机转动，使小车前进、后退、左转、右转 ）

    #include "reg52.h"
#include <intrins.h>

sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;

void Delay2000ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 15;
	j = 2;
	k = 235;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}

//两个电机反转，前进
void goForward()
{
	left_con1A = 1;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//两个电机正转，后退
void goBack()
{
	left_con1A = 0;
	left_con2A = 1;
	
	right_con1A = 0;	
	right_con2A = 1;
}

//两个电机不转，停止
void goStop()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 0;	
	right_con2A = 0;
}

//左电机不转，右电机反转，左转
void goLeft()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//左电机反转，右电机不转，右转
void goRight()
{
	left_con1A = 1;
	left_con2A = 0;

	right_con1A = 0;	
	right_con2A = 0;
}

void main()
{
	while(1){
		goForward();
		Delay2000ms();
		goBack();
		Delay2000ms();
		goLeft();
		Delay2000ms();
		goRight();
		Delay2000ms();
		goStop();
		Delay2000ms();
	}
}

    遥控小车（ 使用蓝牙模块，通过串口发送信息控制小车移动）

    #include "reg52.h"
#include <intrins.h>
#include <string.h>

sfr AUXR = 0x8E;

sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;
sbit led1 = P3^7;
char mybuf[24] ;
 
void Delay1000ms()		//@11.0592MHz
{
	unsigned char i, j, k;
 
	_nop_();
	i = 8;
	j = 1;
	k = 243;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}
 
void uartInit()
{
	AUXR = 0x01;
	PCON &= 0x7F;  //配置波特率正常
	SCON = 0x50;  //配置串口选择工作方式1,允许串口接收数据
	
	//配置定时器1为8位自动重装模式
	TMOD &= 0x0F;
	TMOD |= 0x20;
	
	//给定时器1,9600波特率初值
	TH1 = 0xFD;  //定时器1初值
	TL1 = 0xFD;  //定时器1重装值
 
	ET1 = 0;  //不允许定时器1产生中断
	TR1 = 1;  //开启定时器1
 
	EA = 1;  //开启总中断
	ES = 1;  //开启串口中断
 
}
 
void sendByte(char mydata)
{
	SBUF = mydata;  //向串口发送一帧信息
	while(!TI);  //等待硬件置位
	TI = 0;  //TI软件清0 
}
 
void sendString(char *str)
{
	while(*str != '\0'){
		sendByte(*str);
		str++;
	}
}

//两个电机反转，前进
void goForward()
{
	left_con1A = 1;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//两个电机正转，后退
void goBack()
{
	left_con1A = 0;
	left_con2A = 1;
	
	right_con1A = 0;	
	right_con2A = 1;
}

//两个电机不转，停止
void goStop()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 0;	
	right_con2A = 0;
}

//左电机不转，右电机反转，左转
void goLeft()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//左电机反转，右电机不转，右转
void goRight()
{
	left_con1A = 1;
	left_con2A = 0;

	right_con1A = 0;	
	right_con2A = 0;
}

void main()
{
	uartInit();
	while(1){
		sendString("jiangxiaoya\r\n");  //发送心跳包，确保串口通信没有中断
		Delay1000ms();
	}
}
 

void myUart() interrupt 4
{
	static int i = 0;
	char tmp;
 
	//接收数据后，RI硬件置位产生的中断
	if(RI){
		RI = 0;  //RI软件清0
		//获取从pc端接收到的数据
		tmp = SBUF;
 
		if(tmp == 'f' || tmp == 'b' || tmp == 'l' || tmp == 'r' || tmp == 's'){
			i = 0;
		}
		mybuf[i] = tmp;
		i++;
 
		//forward
		if(mybuf[0] == 'f' && mybuf[1] == 'o'){
			goForward();
			memset(mybuf,'\0',24);
		}
 
		//forward
		if(mybuf[0] == 'b' && mybuf[1] == 'a'){
			goBack();
			memset(mybuf,'\0',24);
		}
 
		//left
		if(mybuf[0] == 'l' && mybuf[1] == 'e'){
			goLeft();
			memset(mybuf,'\0',24);
		}
		//right
		if(mybuf[0] == 'r' && mybuf[1] == 'i'){
			goRight();
			memset(mybuf,'\0',24);
		}
 
		//stop
		if(mybuf[0] == 's' && mybuf[1] == 't'){
			goStop();
			memset(mybuf,'\0',24);
		}
 
		if(i == 24){
			i = 0;
		}
 
	}
 
	//发送数据后，TI硬件置位产生的中断
	if(TI);  
}

    调速小车（利用PWM波对电机进行调速）

  • 利用定时器0软件模拟PWM波控制小车左轮速度，定时器1软件模拟PWM波控制小车右轮速度，通过控制轮子的速度来达到前进、停止、左转、右转
  • 在20ms的过程中，部分时间让电机正转，剩下时间让电机停止不动就能改变电机获得的功率，从而改变电机速度。
    • #include "reg52.h"
#include <intrins.h>
#include <string.h>

sfr AUXR = 0x8E;

sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;
sbit led1 = P3^7;

char mybuf[24] ;
char leftSpeed;
char rightSpeed;
int cntLeft = 0;
int cntRight = 0;

void Delay1000ms()		//@11.0592MHz
{
	unsigned char i, j, k;
 
	_nop_();
	i = 8;
	j = 1;
	k = 243;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}
 
//左电机反转
void goLeftForward()
{
	left_con1A = 1;
	left_con2A = 0;
}

//左电机不转
void goLeftStop()
{
	left_con1A = 0;
	left_con2A = 0;
}

//右电机反转
void goRightForward()
{
	right_con1A = 1;	
	right_con2A = 0;
}

//右电机不转
void goRightStop()
{
	right_con1A = 0;	
	right_con2A = 0;
}

//前进
void goForward()
{
	leftSpeed = 18;
	rightSpeed = 20;
}

//停止
void goStop()
{
	leftSpeed = 0;
	rightSpeed = 0;
}

//左转
void goLeft()
{
	leftSpeed = 10;
	rightSpeed = 20;
}

//右转
void goRight()
{
	leftSpeed = 20;
	rightSpeed = 10;
}

void Timer0Init(void)		//1毫秒@11.0592MHz
{
	AUXR &= 0x7F;		//定时器时钟12T模式
	TMOD &= 0xF0;		//设置定时器模式
	TMOD |= 0x01;		//设置定时器模式
	//定时器初值为1ms
	TL0 = 0x66;		
	TH0 = 0xFC;		
	TF0 = 0;		//清除TF0标志
	TR0 = 1;		//定时器0开始计时
	ET0 = 1;
	EA  = 1;
}

void Timer1Init(void)		//1毫秒@11.0592MHz
{
	AUXR |= 0x40;		//定时器时钟1T模式
	TMOD &= 0x0F;		//设置定时器模式
	TMOD |= 0x10;		//设置定时器模式
	//定时器初值为1ms
	TL1 = 0xCD;		
	TH1 = 0xD4;		
	TF1 = 0;		//清除TF1标志
	TR1 = 1;		//定时器1开始计时
	ET1 = 1;
	EA  = 1;
}

void main()
{
	Timer0Init();
	Timer1Init();
	while(1){
		Delay1000ms();
		goForward();
		Delay1000ms();
		goLeft();
		Delay1000ms();
		goRight();
	}
}
 
//定时器0的中断函数
void Time0Handler() interrupt 1
{
	cntLeft++;
	TL0 = 0x66;		
	TH0 = 0xFC;
	if(cntLeft < leftSpeed)
	{
		goLeftForward();
	}else{
		goLeftStop();
	}
	if(cntLeft == 20){
		cntLeft = 0;
	}
}

void Time1Handler() interrupt 3
{
	cntRight++;
	TL1 = 0x66;		
	TH1 = 0xFC;
	if(cntRight < rightSpeed)
	{
		goRightForward();
	}else{
		goRightStop();
	}
	if(cntRight == 20){
		cntRight = 0;
	}
}

    循迹小车 （利用循迹模块进行黑白色的检测）

    #include "reg52.h"
#include <intrins.h>
#include <string.h>

sfr AUXR = 0x8E;

sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;
sbit tracingLeft = P1^5;
sbit tracingRight = P1^6;

char leftSpeed;
char rightSpeed;
int cntLeft = 0;
int cntRight = 0;

//左电机反转
void goLeftForward()
{
	left_con1A = 1;
	left_con2A = 0;
}

//左电机不转
void goLeftStop()
{
	left_con1A = 0;
	left_con2A = 0;
}

//右电机反转
void goRightForward()
{
	right_con1A = 1;	
	right_con2A = 0;
}

//右电机不转
void goRightStop()
{
	right_con1A = 0;	
	right_con2A = 0;
}

//前进
void goForward()
{
	leftSpeed = 17;
	rightSpeed = 20;
}

//停止
void goStop()
{
	leftSpeed = 0;
	rightSpeed = 0;
}

//左转
void goLeft()
{
	leftSpeed = 5;
	rightSpeed = 20;
}

//右转
void goRight()
{
	leftSpeed = 20;
	rightSpeed = 5;
}

void Timer0Init(void)		//1毫秒@11.0592MHz
{
	AUXR &= 0x7F;		//定时器时钟12T模式
	TMOD &= 0xF0;		//设置定时器模式
	TMOD |= 0x01;		//设置定时器模式
	//定时器初值为1ms
	TL0 = 0x66;		
	TH0 = 0xFC;		
	TF0 = 0;		//清除TF0标志
	TR0 = 1;		//定时器0开始计时
	ET0 = 1;
	EA  = 1;
}

void Timer1Init(void)		//1毫秒@11.0592MHz
{
	AUXR |= 0x40;		//定时器时钟1T模式
	TMOD &= 0x0F;		//设置定时器模式
	TMOD |= 0x10;		//设置定时器模式
	//定时器初值为1ms
	TL1 = 0xCD;		
	TH1 = 0xD4;		
	TF1 = 0;		//清除TF1标志
	TR1 = 1;		//定时器1开始计时
	ET1 = 1;
	EA  = 1;
}

void tracingMode()
{	
	if(tracingLeft == 0 && tracingRight == 0){  //
		goForward();
	}

	if(tracingLeft == 0 && tracingRight == 1){
		goRight();
	}

	if(tracingLeft == 1 && tracingRight == 0){
		goLeft();
	}

	if(tracingLeft == 1 && tracingRight == 1){
		goStop();
	}
}

void main()
{
	Timer0Init();
	Timer1Init();
	while(1){
		tracingMode();
	}
}
 
//定时器0的中断函数
void Time0Handler() interrupt 1
{
	cntLeft++;
	TL0 = 0x66;		
	TH0 = 0xFC;
	if(cntLeft < leftSpeed)
	{
		goLeftForward();
	}else{
		goLeftStop();
	}
	if(cntLeft == 20){
		cntLeft = 0;
	}
}

void Time1Handler() interrupt 3
{
	cntRight++;
	TL1 = 0x66;		
	TH1 = 0xFC;
	if(cntRight < rightSpeed)
	{
		goRightForward();
	}else{
		goRightStop();
	}
	if(cntRight == 20){
		cntRight = 0;
	}
}

    跟随小车（利用红外避障模块完成跟随行为）

    #include "reg52.h"
#include <intrins.h>
#include <string.h>

sfr AUXR = 0x8E;

sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;
sbit followLeft = P2^1;
sbit followRight = P2^2;

char leftSpeed;
char rightSpeed;
int cntLeft = 0;
int cntRight = 0;

//左电机反转
void goLeftForward()
{
	left_con1A = 1;
	left_con2A = 0;
}

//左电机不转
void goLeftStop()
{
	left_con1A = 0;
	left_con2A = 0;
}

//右电机反转
void goRightForward()
{
	right_con1A = 1;	
	right_con2A = 0;
}

//右电机不转
void goRightStop()
{
	right_con1A = 0;	
	right_con2A = 0;
}

//前进
void goForward()
{
	leftSpeed = 17;
	rightSpeed = 20;
}

//停止
void goStop()
{
	leftSpeed = 0;
	rightSpeed = 0;
}

//左转
void goLeft()
{
	leftSpeed = 8;
	rightSpeed = 20;
}

//右转
void goRight()
{
	leftSpeed = 20;
	rightSpeed = 10;
}

void Timer0Init(void)		//1毫秒@11.0592MHz
{
	AUXR &= 0x7F;		//定时器时钟12T模式
	TMOD &= 0xF0;		//设置定时器模式
	TMOD |= 0x01;		//设置定时器模式
	//定时器初值为1ms
	TL0 = 0x66;		
	TH0 = 0xFC;		
	TF0 = 0;		//清除TF0标志
	TR0 = 1;		//定时器0开始计时
	ET0 = 1;
	EA  = 1;
}

void Timer1Init(void)		//1毫秒@11.0592MHz
{
	AUXR |= 0x40;		//定时器时钟1T模式
	TMOD &= 0x0F;		//设置定时器模式
	TMOD |= 0x10;		//设置定时器模式
	//定时器初值为1ms
	TL1 = 0xCD;		
	TH1 = 0xD4;		
	TF1 = 0;		//清除TF1标志
	TR1 = 1;		//定时器1开始计时
	ET1 = 1;
	EA  = 1;
}

void followMode()
{	
	if(followLeft == 0 && followRight == 0){  //
		goForward();
	}

	if(followLeft == 0 && followRight == 1){
		goRight();
	}

	if(followLeft == 1 && followRight == 0){
		goLeft();
	}

	if(followLeft == 1 && followRight == 1){
		goStop();
	}
}

void main()
{
	Timer0Init();
	Timer1Init();
	while(1){
		followMode();
	}
}
 
//定时器0的中断函数
void Time0Handler() interrupt 1
{
	cntLeft++;
	TL0 = 0x66;		
	TH0 = 0xFC;
	if(cntLeft < leftSpeed)
	{
		goLeftForward();
	}else{
		goLeftStop();
	}
	if(cntLeft == 20){
		cntLeft = 0;
	}
}

void Time1Handler() interrupt 3
{
	cntRight++;
	TL1 = 0x66;		
	TH1 = 0xFC;
	if(cntRight < rightSpeed)
	{
		goRightForward();
	}else{
		goRightStop();
	}
	if(cntRight == 20){
		cntRight = 0;
	}
}

    避障小车（利用超声波测距完成避障行为）

  • 利用定时器0软件模拟PWM波控制sg90舵机转动方向
  • 利用定时器1和超声波不断测量前方距离
    • #include "reg52.h"
#include <intrins.h>

sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;
sbit Trig = P2^3;
sbit Echo = P2^4;
sbit sg90 = P2^5;

int angle;
int angleBack;
int cnt = 0;

void Delay100ms()		//@11.0592MHz
{
	unsigned char i, j;
 
	i = 180;
	j = 73;
	do
	{
		while (--j);
	} while (--i);
}

void Delay300ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 3;
	j = 26;
	k = 223;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}

void Delay500ms()		//@11.0592MHz
{
	unsigned char i, j, k;
 
	_nop_();
	i = 4;
	j = 129;
	k = 119;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}
 
void Delay10us()		//@11.0592MHz
{
	unsigned char i;
 
	i = 2;
	while (--i);
}

//两个电机反转，前进
void goForward()
{
	left_con1A = 1;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//两个电机正转，后退
void goBack()
{
	left_con1A = 0;
	left_con2A = 1;
	
	right_con1A = 0;	
	right_con2A = 1;
}

//两个电机不转，停止
void goStop()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 0;	
	right_con2A = 0;
}

//左电机不转，右电机反转，左转
void goLeft()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//左电机反转，右电机不转，右转
void goRight()
{
	left_con1A = 1;
	left_con2A = 0;

	right_con1A = 0;	
	right_con2A = 0;
}

void timer0Init()
{
	//设置定时器0为16为计时模式
	TMOD &=0xF0; 
	TMOD |=0x01; 
 
	//设置定时器0定时时间为0.5ms
	TH0 = 0xFE;
	TL0 = 0x33;
 
	TR0 = 1;  //定时器0开始计时
	TF0 = 0;  //不执行定时器0爆表时导致的中断
 
	ET0 = 1;  //定时器0中断开关
	EA = 1;  //总中断开关
}
 
void timer1Init()
{	
	//设置定时器1为16为计时模式
	TMOD &= 0x0F;
	TMOD |= 0x10;  
 
	TH1 = 0x00;
	TL1 = 0x00;
}

void ultrasonicStart()
{
	Trig = 0;
	Trig = 1;
	Delay10us();
	Trig = 0; 
}

double getDistance()
{
	double time = 0;
	
	//定时器1清0
	TH1 = 0x00;
	TL1 = 0x00;
 
	ultrasonicStart();
		
	while(Echo == 0);  //当Echo引脚从低电平跳到高电平时开启定时器1
	TR1 = 1;
		
	while(Echo == 1);  //当Echo引脚从高电平跳到低电平时关闭定时器1
	TR1 = 0;
 
	time = (TH1*256 + TL1) * 1.085;  //微秒
 
	return (time * 0.017);
}

void sg90Left()
{
	angle = 5;  //180°
	if(angleBack != angle){  
		cnt = 0;
	}
	angleBack = angle;
	Delay100ms();
} 

void sg90Middle()
{
	angle = 3;  //90°
	if(angleBack != angle){  
		cnt = 0;
	}
	angleBack = angle;
	Delay100ms();
} 

void sg90Right()
{
	angle = 1;  //0°
	if(angleBack != angle){  
		cnt = 0;
	}
	angleBack = angle;
	Delay100ms();
} 

void main()
{
	double leftDistance;
	double rightDistance;
	double middleDistance;

	timer0Init();
	timer1Init();
	
	sg90Middle();
	Delay500ms();

	while(1){
		sg90Middle();
		Delay300ms();
		middleDistance = getDistance();
		if(middleDistance > 35){
			goForward();
		}else{
			goStop();

			sg90Left();
			Delay300ms();
			leftDistance = getDistance();

			sg90Middle();
			Delay300ms();

			sg90Right();
			Delay300ms();
			rightDistance = getDistance();

			if(leftDistance < 15 && rightDistance < 15){
				goBack();
				Delay500ms();
				goStop();
			}else{

				if(leftDistance > rightDistance){
					goLeft();
					Delay500ms();
					goStop();
				}

				if(rightDistance > leftDistance){
					goRight();
					Delay500ms();
					goStop();
				}
			}
		}
	}
}

//定时器0的中断函数
void Time0Handler() interrupt 1
{
	
	TH0 = 0xFE;
	TL0 = 0x33;
	cnt++;
	//控制占空比
	if(cnt < angle){
		sg90 = 1;
	}else{
		sg90 = 0;
	}
 
	if(cnt == 40){  //每个周期为20ms
		cnt = 0;
		sg90 = 1;
	}
}

    测速小车，使用OLED屏显示小车速度

  • 轮子走一圈，经过一个周长，C = 2×3.14x半径= 3.14 x 直径（6.5cm），对应的转速码盘也转了一圈
  • 码盘有20个格子，每经过一个格子，会遮挡（高电平）和不遮挡（低电平），即产生下降沿，一个下降沿就是走了 3.14 * 6.5 cm /20 = 1.0205CM
  • 定时器可以设计成一秒，统计下降沿，一个下降沿就是1cm，假设一秒有80脉冲，那么就是80cm/s
    • #include "reg52.h"
#include <intrins.h>
#include <string.h>
#include <stdio.h>

sfr AUXR = 0x8E;

sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;
sbit Tachometer = P3^2;  //测速模块产生下降沿，让外部中断0产生中断
sbit scl = P2^6;
sbit sda = P2^7;

char mybuf[24];

int signal;  
unsigned int cnt;
unsigned int speedCnt = 0;
unsigned int speed;
char speedMsg[24];

void Delay5us()		//@11.0592MHz
{
}
 
//两个电机反转，前进
void goForward()
{
	left_con1A = 1;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//两个电机正转，后退
void goBack()
{
	left_con1A = 0;
	left_con2A = 1;
	
	right_con1A = 0;	
	right_con2A = 1;
}

//两个电机不转，停止
void goStop()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 0;	
	right_con2A = 0;
}

//左电机不转，右电机反转，左转
void goLeft()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//左电机反转，右电机不转，右转
void goRight()
{
	left_con1A = 1;
	left_con2A = 0;

	right_con1A = 0;	
	right_con2A = 0;
}

//串口初始化
void uartInit()
{
	AUXR = 0x01;
	PCON &= 0x7F;  //配置波特率正常
	SCON = 0x50;  //配置串口选择工作方式1,允许串口接收数据
	
	//配置定时器1为8位自动重装模式
	TMOD &= 0x0F;
	TMOD |= 0x20;
	
	//给定时器1,9600波特率初值
	TH1 = 0xFD;  //定时器1初值
	TL1 = 0xFD;  //定时器1重装值
 
	ET1 = 0;  //不允许定时器1产生中断
	TR1 = 1;  //开启定时器1
 
	EA = 1;  //开启总中断
	ES = 1;  //开启串口中断
 
}

//定时器0初始化，初值为1ms
void Time0Init()
{
	TMOD &=0xF0; 
	TMOD |=0x01;
	//1ms
	TL0 = 0x66;		
	TH0 = 0xFC;
	TR0 = 1;
	ET0 = 1;
	EA  =1;
}

//外部中断0初始化
void int0Init()
{
	EX0 = 1;
	EA = 1;
	IT0 = 1;  //下降沿触发外部中断0
}

//IIC起始信号
void IIC_start()
{
	sda = 0;
	scl = 1;
	sda = 1;
	Delay5us();
	sda = 0;
	Delay5us();
	scl = 0;
}
 
//IIC终止信号
void IIC_stop()
{
	scl = 0;
	sda = 0;
	scl = 1;
	Delay5us();
	sda = 1;
	Delay5us();
	sda = 0;
}
 
//IIC的ACK应答信号
char IIC_ack()
{
	char flag;
 
	scl = 0;
	sda = 1;  //在时钟脉冲9期间释放数据线
	Delay5us();  //延时5微秒后，为读取sda数据做准备
 
	scl = 1;  
	Delay5us();  
	flag = sda;  //读取数据线,0为应答
	Delay5us();  
	
	scl = 0;
	Delay5us();
	return flag;
}
 
//IIC发送一个字节
void IIC_sendByte(char myData)
{
	int i;
	for ( i = 0; i < 8; i++){
		//发生数据翻转，选择即将发送的是0还是1
		scl = 0;
		sda = myData & 0x80;  //获取需要发送字节的最高位到SDA
		Delay5us();  //数据建立时间
		
		//开始发送数据
		scl = 1;
		Delay5us();  //数据发送时间
		
		scl = 0;  //发送完毕拉低，等待下1bit数据的传输
		Delay5us();
		
		myData = myData << 1;
	}	
}
 
//OLED写入一条指令
void oledWriteCmd(char writeCmd)
{
	IIC_start();
	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
	IIC_ack();
	IIC_sendByte(0x00);  //写入命令，D/C位为0
	IIC_ack();
	IIC_sendByte(writeCmd);
	IIC_ack();
	IIC_stop();
}
 
//OLED写入一个数据
void oledWriteData(char writeData)
{
	IIC_start();
	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
	IIC_ack();
	IIC_sendByte(0x40);  //写入命令，D/C位为0
	IIC_ack();
	IIC_sendByte(writeData);
	IIC_ack();
	IIC_stop();
}
 
//OLCD初始化
void oledInit()
{
	oledWriteCmd(0xAE);
	oledWriteCmd(0x00);
	oledWriteCmd(0x10);
	oledWriteCmd(0x40);
	oledWriteCmd(0xB0);
	oledWriteCmd(0x81);
	oledWriteCmd(0xFF);
	oledWriteCmd(0xA1);
	oledWriteCmd(0xA6);
	oledWriteCmd(0xA8);
	oledWriteCmd(0x3F);
	oledWriteCmd(0xC8);
	oledWriteCmd(0xD3);
	oledWriteCmd(0x00);
	oledWriteCmd(0xD5);
	oledWriteCmd(0x80);
	oledWriteCmd(0xD8);
	oledWriteCmd(0x05);
	oledWriteCmd(0xD9);
	oledWriteCmd(0xF1);
	oledWriteCmd(0xDA);
	oledWriteCmd(0x12);
	oledWriteCmd(0xDB);
	oledWriteCmd(0x30);
	oledWriteCmd(0x8D);
	oledWriteCmd(0x14);
	oledWriteCmd(0xAF);
}
 
void olceClean()
{
	int i,j;
	for(i=0;i<8;i++){
		oledWriteCmd(0xB0 + i);  //选择PAGE
		//选择PAGE的第0列开始显示
		oledWriteCmd(0x00);  
		oledWriteCmd(0x10);
		for(j = 0;j < 128; j++){
			oledWriteData(0);  //写入字符0
		}
	}
}
 
//OLED的字符构造点阵
const unsigned char code oledFont[]=
{
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};
 
//OLED显示一个字符
void oledShowByte(char rows,char columns,char oledByte)
{ 
	unsigned int i;
 
	//显示字符的上半部分
	oledWriteCmd(0xb0+(rows*2-2));  //选择行
	//选择列                        
	oledWriteCmd(0x00+(columns&0x0f));                          
	oledWriteCmd(0x10+(columns>>4));      
	//显示数据                       
	for(i=((oledByte-32)*16);i<((oledByte-32)*16+8);i++){
		oledWriteData(oledFont[i]);                            
	}
 
 	//显示字符的上半部分
	oledWriteCmd(0xb0+(rows*2-1));  //选择行  
	//选择列                    
	oledWriteCmd(0x00+(columns&0x0f));                          
	oledWriteCmd(0x10+(columns>>4)); 
	//显示数据                           
	for(i=((oledByte-32)*16+8);i<((oledByte-32)*16+8+8);i++){
		oledWriteData(oledFont[i]);                            
	}       
}
 
//OLED显示一个字符串
void oledShowString(char rows,char columns,char *str)
{
	while(*str != '\0'){
		oledShowByte(rows,columns,*str);
		str++;
		columns += 8;   
	}       
}

void main()
{
	uartInit();
	Time0Init();
	int0Init();

	oledInit();
	olceClean();  //清屏函数
	oledWriteCmd(0x20);  //设置内存
	oledWriteCmd(0x02);  //选择页寻址模式

	while(1){
		if(signal == 1){
			sprintf(speedMsg,"speed:%dcm/s ",speed);
			olceClean();
			oledShowString(2,5,speedMsg);
			signal = 0;
		}
	}
}

//定时器0产生的中断的处理函数
void Time0Handle() interrupt 1
{
	cnt++;
	TL0 = 0x66;		
	TH0 = 0xFC;
	//每过一秒统计一次产生了多少次下降沿，让main函数向串口发送当前小车速度
	if(cnt == 1000){
		cnt = 0;
		signal = 1;  
		speed = speedCnt;
		speedCnt = 0;
	}
}

//外部中断0产生的中断的处理函数
void int0Handle() interrupt 0
{
	speedCnt++;  //每产生一个下降沿让标志位+1
}

//串口产生的中断的处理函数
void myUart() interrupt 4
{
	static int i = 0;
	char tmp;
 
	//接收数据后，RI硬件置位产生的中断
	if(RI){
		RI = 0;  //RI软件清0
		//获取从pc端接收到的数据
		tmp = SBUF;
 
		if(tmp == 'f' || tmp == 'b' || tmp == 'l' || tmp == 'r' || tmp == 's'){
			i = 0;
		}
		mybuf[i] = tmp;
		i++;
 
		//forward
		if(mybuf[0] == 'f' && mybuf[1] == 'o'){
			goForward();
			memset(mybuf,'\0',24);
		}
 
		//forward
		if(mybuf[0] == 'b' && mybuf[1] == 'a'){
			goBack();
			memset(mybuf,'\0',24);
		}
 
		//left
		if(mybuf[0] == 'l' && mybuf[1] == 'e'){
			goLeft();
			memset(mybuf,'\0',24);
		}
		//right
		if(mybuf[0] == 'r' && mybuf[1] == 'i'){
			goRight();
			memset(mybuf,'\0',24);
		}
 
		//stop
		if(mybuf[0] == 's' && mybuf[1] == 't'){
			goStop();
			memset(mybuf,'\0',24);
		}
 
		if(i == 24){
			i = 0;
		}
 
	}
 
	//发送数据后，TI硬件置位产生的中断
	if(TI);  
}

    语音控制小车，循迹、跟随、避障三种功能切换

    #include "reg52.h"
#include <intrins.h>

#define BZ 1
#define XJ 2
#define GS 3

sfr AUXR = 0x8E;

//sg90
sbit sg90 = P2^5;
//ultrasonic
sbit Trig = P2^3;
sbit Echo = P2^4;
//oled
sbit scl = P2^6;
sbit sda = P2^7;
//car
sbit left_con1A = P1^1;
sbit left_con2A = P1^2;
sbit right_con1A = P1^3;
sbit right_con2A = P1^4;
//循迹
sbit tracingLeft = P1^5;
sbit tracingRight = P1^6;
//跟随
sbit followLeft = P2^1;
sbit followRight = P2^2;
//su-03t
sbit A25 = P0^1;
sbit A26 = P0^2;
sbit A27 = P0^3;

int angle;
int angleBack;
int cnt = 0;

double leftDistance;
double rightDistance;
double middleDistance;

//OLED的字符构造点阵
const unsigned char code oledFont[]=
{
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};

void Delay5us()		//@11.0592MHz
{
}

void Delay10us()		//@11.0592MHz
{
	unsigned char i;
 
	i = 2;
	while (--i);
}

void Delay100ms()		//@11.0592MHz
{
	unsigned char i, j;
 
	i = 180;
	j = 73;
	do
	{
		while (--j);
	} while (--i);
}

void Delay300ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 3;
	j = 26;
	k = 223;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}

void Delay500ms()		//@11.0592MHz
{
	unsigned char i, j, k;
 
	_nop_();
	i = 4;
	j = 129;
	k = 119;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}

//sg90
void timer0Init()
{
	//设置定时器0为16为计时模式
	TMOD &=0xF0; 
	TMOD |=0x01; 
 
	//设置定时器0定时时间为0.5ms
	TH0 = 0xFE;
	TL0 = 0x33;
 
	TR0 = 1;  //定时器0开始计时
	TF0 = 0;  //不执行定时器0爆表时导致的中断
 
	ET0 = 1;  //定时器0中断开关
	EA = 1;  //总中断开关
}

void sg90Left()
{
	angle = 5;  //180°
	if(angleBack != angle){  
		cnt = 0;
	}
	angleBack = angle;
	Delay100ms();
} 

void sg90Middle()
{
	angle = 3;  //90°
	if(angleBack != angle){  
		cnt = 0;
	}
	angleBack = angle;
	Delay100ms();
} 

void sg90Right()
{
	angle = 1;  //0°
	if(angleBack != angle){  
		cnt = 0;
	}
	angleBack = angle;
	Delay100ms();
}

//ultrasonic
void timer1Init()
{	
	//设置定时器1为16为计时模式
	TMOD &= 0x0F;
	TMOD |= 0x10;  
 
	TH1 = 0x00;
	TL1 = 0x00;
}

void ultrasonicStart()
{
	Trig = 0;
	Trig = 1;
	Delay10us();
	Trig = 0; 
}

double getDistance()
{
	double time = 0;
	
	//定时器1清0
	TH1 = 0x00;
	TL1 = 0x00;
 
	ultrasonicStart();
		
	while(Echo == 0);  //当Echo引脚从低电平跳到高电平时开启定时器1
	TR1 = 1;
		
	while(Echo == 1);  //当Echo引脚从高电平跳到低电平时关闭定时器1
	TR1 = 0;
 
	time = (TH1*256 + TL1) * 1.085;  //微秒
 
	return (time * 0.017);
}

//oled
//IIC起始信号
void IIC_start()
{
	sda = 0;
	scl = 1;
	sda = 1;
	Delay5us();
	sda = 0;
	Delay5us();
	scl = 0;
}
 
//IIC终止信号
void IIC_stop()
{
	scl = 0;
	sda = 0;
	scl = 1;
	Delay5us();
	sda = 1;
	Delay5us();
	sda = 0;
}
 
//IIC的ACK应答信号
char IIC_ack()
{
	char flag;
 
	scl = 0;
	sda = 1;  //在时钟脉冲9期间释放数据线
	Delay5us();  //延时5微秒后，为读取sda数据做准备
 
	scl = 1;  
	Delay5us();  
	flag = sda;  //读取数据线,0为应答
	Delay5us();  
	
	scl = 0;
	Delay5us();
	return flag;
}
 
//IIC发送一个字节
void IIC_sendByte(char myData)
{
	int i;
	for ( i = 0; i < 8; i++){
		//发生数据翻转，选择即将发送的是0还是1
		scl = 0;
		sda = myData & 0x80;  //获取需要发送字节的最高位到SDA
		Delay5us();  //数据建立时间
		
		//开始发送数据
		scl = 1;
		Delay5us();  //数据发送时间
		
		scl = 0;  //发送完毕拉低，等待下1bit数据的传输
		Delay5us();
		
		myData = myData << 1;
	}	
}
 
//OLED写入一条指令
void oledWriteCmd(char writeCmd)
{
	IIC_start();
	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
	IIC_ack();
	IIC_sendByte(0x00);  //写入命令，D/C位为0
	IIC_ack();
	IIC_sendByte(writeCmd);
	IIC_ack();
	IIC_stop();
}
 
//OLED写入一个数据
void oledWriteData(char writeData)
{
	IIC_start();
	IIC_sendByte(0x78);  //选择一个OLED屏，写模式
	IIC_ack();
	IIC_sendByte(0x40);  //写入命令，D/C位为0
	IIC_ack();
	IIC_sendByte(writeData);
	IIC_ack();
	IIC_stop();
}
 
//OLCD初始化
void oledInit()
{
	oledWriteCmd(0xAE);
	oledWriteCmd(0x00);
	oledWriteCmd(0x10);
	oledWriteCmd(0x40);
	oledWriteCmd(0xB0);
	oledWriteCmd(0x81);
	oledWriteCmd(0xFF);
	oledWriteCmd(0xA1);
	oledWriteCmd(0xA6);
	oledWriteCmd(0xA8);
	oledWriteCmd(0x3F);
	oledWriteCmd(0xC8);
	oledWriteCmd(0xD3);
	oledWriteCmd(0x00);
	oledWriteCmd(0xD5);
	oledWriteCmd(0x80);
	oledWriteCmd(0xD8);
	oledWriteCmd(0x05);
	oledWriteCmd(0xD9);
	oledWriteCmd(0xF1);
	oledWriteCmd(0xDA);
	oledWriteCmd(0x12);
	oledWriteCmd(0xDB);
	oledWriteCmd(0x30);
	oledWriteCmd(0x8D);
	oledWriteCmd(0x14);
	oledWriteCmd(0xAF);
}

//OLED清屏函数
void olceClean()
{
	int i,j;
	for(i=0;i<8;i++){
		oledWriteCmd(0xB0 + i);  //选择PAGE
		//选择PAGE的第0列开始显示
		oledWriteCmd(0x00);  
		oledWriteCmd(0x10);
		for(j = 0;j < 128; j++){
			oledWriteData(0);  //写入字符0
		}
	}
}
 
//OLED显示一个字符
void oledShowByte(char rows,char columns,char oledByte)
{ 
	unsigned int i;
 
	//显示字符的上半部分
	oledWriteCmd(0xb0+(rows*2-2));  //选择行
	//选择列                        
	oledWriteCmd(0x00+(columns&0x0f));                          
	oledWriteCmd(0x10+(columns>>4));      
	//显示数据                       
	for(i=((oledByte-32)*16);i<((oledByte-32)*16+8);i++){
		oledWriteData(oledFont[i]);                            
	}
 
 	//显示字符的上半部分
	oledWriteCmd(0xb0+(rows*2-1));  //选择行  
	//选择列                    
	oledWriteCmd(0x00+(columns&0x0f));                          
	oledWriteCmd(0x10+(columns>>4)); 
	//显示数据                           
	for(i=((oledByte-32)*16+8);i<((oledByte-32)*16+8+8);i++){
		oledWriteData(oledFont[i]);                            
	}       
}
 
//OLED显示一个字符串
void oledShowString(char rows,char columns,char *str)
{
	while(*str != '\0'){
		oledShowByte(rows,columns,*str);
		str++;
		columns += 8;   
	}       
}

//car
//两个电机反转，前进
void goForward()
{
	left_con1A = 1;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//两个电机正转，后退
void goBack()
{
	left_con1A = 0;
	left_con2A = 1;
	
	right_con1A = 0;	
	right_con2A = 1;
}

//两个电机不转，停止
void goStop()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 0;	
	right_con2A = 0;
}

//左电机不转，右电机反转，左转
void goLeft()
{
	left_con1A = 0;
	left_con2A = 0;
	
	right_con1A = 1;	
	right_con2A = 0;
}

//左电机反转，右电机不转，右转
void goRight()
{
	left_con1A = 1;
	left_con2A = 0;

	right_con1A = 0;	
	right_con2A = 0;
}

//循迹模式
void tracingMode()
{	
	if(tracingLeft == 0 && tracingRight == 0){  
		goForward();
	}

	if(tracingLeft == 0 && tracingRight == 1){
		goRight();
	}

	if(tracingLeft == 1 && tracingRight == 0){
		goLeft();
	}

	if(tracingLeft == 1 && tracingRight == 1){
		goStop();
	}
}

//跟随模式
void followMode()
{	
	if(followLeft == 0 && followRight == 0){  //
		goForward();
	}

	if(followLeft == 0 && followRight == 1){
		goRight();
	}

	if(followLeft == 1 && followRight == 0){
		goLeft();
	}

	if(followLeft == 1 && followRight == 1){
		goStop();
	}
}

//避障模式
void avoidMode()
{
	sg90Middle();
    Delay300ms();
    middleDistance = getDistance();
    if(middleDistance > 35){
        goForward();
    }else{
        goStop();

        sg90Left();
        Delay300ms();
        leftDistance = getDistance();

        sg90Middle();
        Delay300ms();

        sg90Right();
        Delay300ms();
        rightDistance = getDistance();

        if(leftDistance < 15 && rightDistance < 15){
            goBack();
            Delay500ms();
            goStop();
        }else{

            if(leftDistance > rightDistance){
                goLeft();
                Delay500ms();
                goStop();
            }

            if(rightDistance > leftDistance){
                goRight();
                Delay500ms();
                goStop();
            }
        }
    }
}

void main()
{
	int mark = 0;
	timer0Init();
	timer1Init();
	sg90Middle();
	Delay500ms();
	oledInit();
	olceClean();
	oledShowString(2,5,"haozige");
	while(1){

		if(A25 == 0 && A26 == 1 && A27 == 1){
			if(mark != GS){
				olceClean();
				oledShowString(2,5,"genshuai");
			}
			mark = GS;
			followMode();	
		}


		if(A25 == 1 && A26 == 0 && A27 == 1){
			if(mark != BZ){
				olceClean();
				oledShowString(2,5,"bizhang");
			}
			mark = BZ;
			avoidMode();	
		}

		if(A25 == 1 && A26 == 1 && A27 == 0){
			if(mark != XJ){
				olceClean();
				oledShowString(2,5,"xunji");
			}
			mark = XJ;
			tracingMode();	
		}

	}
}

//定时器0的中断函数
void Time0Handler() interrupt 1
{
	
	TH0 = 0xFE;
	TL0 = 0x33;
	cnt++;
	//控制占空比
	if(cnt < angle){
		sg90 = 1;
	}else{
		sg90 = 0;
	}
 
	if(cnt == 40){  //每个周期为20ms
		cnt = 0;
		sg90 = 1;
	}
}

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