#include????????????????????????????????//包含51單片機(jī)系統(tǒng)頭文件		?

sfr?T2MOD??=?0xC9;
#define?SPEED_30C?3495???????????????????????????//30攝氏度時(shí)的聲速，聲速V=?331.5?+?0.6*溫度；?
#define?SPEED_23C?3453???????????????????????????//23攝氏度時(shí)的聲速，聲速V=?331.5?+?0.6*溫度；

#define?LCD_Data?P0								?//定義液晶1602數(shù)據(jù)接口對應(yīng)單片機(jī)的P0口?
#define?Busy?0x80							?????//液晶為忙時(shí)對應(yīng)的狀態(tài)字?

//定義智能小車電機(jī)驅(qū)動(dòng)芯片L293D輸入IO口	????
sbit?IN1?=?P1^4;???????????????????	??			?//電機(jī)驅(qū)動(dòng)芯片L293D的IN1管腳對應(yīng)單片機(jī)P1.3?
sbit?IN2?=?P1^5;?????????????????	??		?????//電機(jī)驅(qū)動(dòng)芯片L293D的IN2管腳對應(yīng)單片機(jī)P1.4		????
sbit?IN3?=?P1^6;???????????????????				?//電機(jī)驅(qū)動(dòng)芯片L293D的IN3管腳對應(yīng)單片機(jī)P1.6?
sbit?IN4?=?P1^7;???????????????????	?			?//電機(jī)驅(qū)動(dòng)芯片L293D的IN4管腳對應(yīng)單片機(jī)P1.5?

sbit?EN1?=?P1^3;???????????????????				?//電機(jī)驅(qū)動(dòng)芯片L293D的EN1管腳對應(yīng)單片機(jī)P1.2?
sbit?EN2?=?P3^2;?								?//電機(jī)驅(qū)動(dòng)芯片L293D的EN2管腳對應(yīng)單片機(jī)P1.7
sbit?DJ_IO??=?P0^7;
sbit?BEEP_IO??=?P0^3;??????????????????????????//蜂鳴器控制管腳定義，對應(yīng)單片機(jī)的P2.3?
sbit?key1??=?P3^7;
sbit?key2??=?P3^6;
sbit?key3??=?P3^5;
sbit?LCD_RS?=?P1^0;								//液晶的RS管腳對應(yīng)單片機(jī)的P1.0管腳?
sbit?LCD_RW?=?P1^1;								//液晶的RW管腳對應(yīng)單片機(jī)的P1.1管腳?
sbit?LCD_E??=?P1^2;								//液晶的E管腳對應(yīng)單片機(jī)的P2.5管腳?
sbit?ECHO?=?P2^6;??????????????????????????????//超聲波模塊回聲接收端口對應(yīng)單片機(jī)P3.4管腳?
sbit?TRIG?=?P2^5;??????????????????????????????//超聲波模塊觸發(fā)端口對應(yīng)單片機(jī)P3.4管腳?

sbit?left_led??=?P2^7;	???????????????????????//左循跡	??
sbit?right_led?=?P2^0;					???????//右循跡
sbit?zhong_led?=?P2^2;					???????//中循跡?
unsigned?char?code?table0[]?=?{“State:Stop??????“};		?//定義字符數(shù)組SL-51B用于液晶顯示?
unsigned?char?code?table1[]?=?{“????????????????“};		?//定義字符數(shù)組NO?ECHO用于液晶顯示?
unsigned?char?code?table2[]?=?{“State:Avoiding??“};		?//定義字符數(shù)組NO?ECHO用于液晶顯示?
unsigned?char?code?table3[]?=?{“Distance:xxx.xcm“};		?//定義字符數(shù)組Distance:xxx.xcm用于顯示?
unsigned?char?code?table4[]?=?{“State:Tracing???“};
unsigned?char?code?table5[]?=?{“State:Telecont??“};

unsigned?char?disbuff[4]={0000};????????????//用于分別存放距離的值0.1mm、mm、cm和m的值

unsigned?char?pwmval_left???=?0;???????????????//變量定義pwmval_left?并初始化為0.用于小車的PWM調(diào)速??
unsigned?char?pwmval_right??=?0;				?//變量定義pwmval_right并初始化為0.用于小車的PWM調(diào)速??
			?//小車啟動(dòng)時(shí)的初始占空比（左電機(jī)）
unsigned?char?pwmval_left_init??=?8;???????????//左電機(jī)占空比調(diào)節(jié)?，調(diào)節(jié)值在0到20之間，調(diào)節(jié)此值可調(diào)節(jié)小車速度。	???
unsigned?char?pwmval_right_init?=?8;???????????//右電機(jī)占空比調(diào)節(jié)?，調(diào)節(jié)值在0到20之間，調(diào)節(jié)此值可調(diào)節(jié)小車速度。	???

bit?right_pwm?=?1;	????????????????????????????//右電機(jī)PWM開關(guān)為1時(shí)打開???
bit?left_pwm??=?1;			????????????????????//左電機(jī)PWM開關(guān)為1時(shí)打開	

bit?bz_flag1??=?1;								//超聲波避障標(biāo)志變量
	?
unsigned?char?lyen??=?3;		//小車工作模式標(biāo)識(shí)（為0時(shí)表示小車工作在PID調(diào)速，為1時(shí)表示工作在避障模式為2表示工作在循跡模式）?		???

long?int?distance??=?0;????????????????????????//用于暫存超聲波模塊測到的距離?
long?int?distance1?=?0;					????//用于轉(zhuǎn)存超聲波模塊測到的距離?

unsigned?char?count;							//count變量用于超聲波測距?
unsigned?char?UART_data;

void?delay（int?Inint?Out）????????????????????//定義延時(shí)函數(shù)	????
{
?int?ij;
?for（?i?=?0;i??{
??for（?j?=?0;j???{;}
?}
}

void?delayt（unsigned?int?x）			??	???//延時(shí)函數(shù)?
{
?unsigned?char?j;

?while（x--?>?0）
?{
??for（j?=?0;j???{;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????22686??2019-03-26?23:28??01-源程序\Word版.docx

?????文件??????21681??2019-04-07?19:40??01-源程序\源文件\main.c

?????文件??????44967??2019-04-07?19:40??01-源程序\源文件\main.LST

?????文件??????25386??2019-04-07?19:40??01-源程序\源文件\main.OBJ

?????文件???????6376??2009-05-07?14:37??01-源程序\源文件\STARTUP.A51

?????文件??????14048??2019-04-07?19:40??01-源程序\源文件\STARTUP.LST

?????文件????????749??2019-04-07?19:40??01-源程序\源文件\STARTUP.OBJ

?????文件??????22559??2019-04-07?19:40??01-源程序\源文件\智能小車

?????文件???????6045??2019-04-07?19:40??01-源程序\源文件\智能小車.hex

?????文件?????????60??2019-04-07?19:40??01-源程序\源文件\智能小車.lnp

?????文件??????35041??2019-04-07?19:40??01-源程序\源文件\智能小車.M51

?????文件????????230??2019-04-13?23:27??01-源程序\源文件\智能小車.plg

????.......?????73135??2019-04-13?23:29??01-源程序\源文件\智能小車.uvopt

????.......?????13394??2019-04-07?21:07??01-源程序\源文件\智能小車.uvproj

????.......?????73143??2019-04-07?21:07??01-源程序\源文件\智能小車_uvopt.bak

????.......?????13390??2019-03-26?23:30??01-源程序\源文件\智能小車_uvproj.bak

?????文件???????8845??2017-01-15?10:48??02-原理圖\History\原理圖.~（1）.SchDoc.Zip

?????文件??????14958??2018-04-11?11:14??02-原理圖\History\原理圖.~（33）.SchDoc.Zip

?????文件??????15885??2018-04-11?11:18??02-原理圖\History\原理圖.~（34）.SchDoc.Zip

?????文件??????15886??2018-04-22?19:41??02-原理圖\History\原理圖.~（35）.SchDoc.Zip

?????文件??????15885??2018-04-22?19:41??02-原理圖\History\原理圖.~（36）.SchDoc.Zip

?????文件??????15887??2019-03-25?15:59??02-原理圖\History\原理圖.~（37）.SchDoc.Zip

?????文件??????13147??2019-03-25?16:00??02-原理圖\History\原理圖.~（38）.SchDoc.Zip

?????文件??????14148??2019-03-25?16:01??02-原理圖\History\原理圖.~（39）.SchDoc.Zip

?????文件??????14182??2019-03-25?16:01??02-原理圖\History\原理圖.~（40）.SchDoc.Zip

?????文件??????12382??2019-03-25?16:01??02-原理圖\History\原理圖.~（41）.SchDoc.Zip

?????文件??????12375??2019-03-25?16:01??02-原理圖\History\原理圖.~（42）.SchDoc.Zip

?????文件??????12139??2019-03-25?16:01??02-原理圖\History\原理圖.~（43）.SchDoc.Zip

?????文件??????12107??2019-03-26?23:23??02-原理圖\History\原理圖.~（44）.SchDoc.Zip

?????文件??????10197??2019-03-26?23:23??02-原理圖\History\原理圖.~（45）.SchDoc.Zip

............此處省略54個(gè)文件信息