/*预处理命令*/#include<reg52.h> //包含单片机寄存器的头文件#include<intrins.h> //包含_nop_()函数定义的头文件#define uchar unsigned char#define uint unsigned int#define delayNOP(); {_nop_();_nop_();_nop_();_nop_();};sbit IRIN=P3^2; //红外接收器数据线sbit LCD_RS = P0^7;sbit LCD_RW = P0^6;sbit LCD_EN = P0^5;uchar begin[]={"My car!"};uchar cdis1[]={"jiansu!"};uchar cdis2[]={"qianjin!"};uchar cdis3[]={"jiasu!"};uchar cdis4[]={"zuozhuang!"};uchar cdis5[]={"STOP!"};uchar cdis6[]={"youzhuan!"};uchar cdis8[]={"daoche!"};sbit M1 = P1^0;sbit M2 = P1^1;sbit M3 = P1^2;sbit M4 = P1^3;sbit EN12 = P1^4;sbit EN34 = P1^5;uchar IRCOM[7];uchar m,n;uchar t=2;uchar g;uchar code digit[]={"0123456789"};uint v;uchar count;bit flag;void delayxms(uchar t);void delay(unsigned char x) ;void delay1(int ms);void motor();void lcd_display();/*检查LCD忙状态lcd_busy为1时，忙，等待。

lcd-busy为0时,闲，可写指令与数据*/bit lcd_busy(){bit result;LCD_RS = 0;LCD_RW = 1;LCD_EN = 1;delayNOP();result = (bit)(P0&0x80);LCD_EN = 0;return(result);}/*写指令数据到LCDRS=L，RW=L，E=高脉冲，D0-D7=指令码*/void lcd_wcmd(uchar cmd){while(lcd_busy());LCD_RS = 0;LCD_RW = 0;LCD_EN = 0;_nop_();_nop_();P2 = cmd;delayNOP();LCD_EN = 1;delayNOP();LCD_EN = 0;}/*写显示数据到LCDRS=H，RW=L，E=高脉冲，D0-D7=数据*/void lcd_wdat(uchar dat){while(lcd_busy());LCD_RS = 1;LCD_RW = 0;LCD_EN = 0;P2 = dat;delayNOP();LCD_EN = 1;delayNOP();LCD_EN = 0;}/*LCD初始化设定*/void lcd_init(){delay1(15);lcd_wcmd(0x38); //16*2显示，5*7点阵，8位数据delay1(5);lcd_wcmd(0x38);delay1(5);lcd_wcmd(0x38);delay1(5);lcd_wcmd(0x0c); //显示开，关光标delay1(5);lcd_wcmd(0x06); //移动光标delay1(5);lcd_wcmd(0x01); //清除LCD的显示内容delay1(5);}/*设定显示位置*/void lcd_pos(uchar pos){lcd_wcmd(pos | 0x80); //数据指针=80+地址变量}/*x显示速度提示符*/void display_sym(void){lcd_wdat('=');}/*显示速度数值*/void display_vel(uint x){uchar i,j,k,l;i=x/1000; //取千位j=(x%1000)/100; //取百位k=(x%100)/10; //取十位l=x%10; //取个位lcd_pos(0x02);lcd_wdat(digit[i]);lcd_wdat(digit[j]);lcd_wdat(digit[k]);lcd_wdat(digit[l]);}/*显示速度单位*/void display_unit(void){lcd_pos(0x06);lcd_wdat('r');lcd_wdat('/');lcd_wdat('m');lcd_wdat('i');lcd_wdat('n');}/*主函数*//*******************************************************************/ void main(){uint a;IRIN=1; //I/O口初始化IE=0x83; //允许总中断中断,使能INT0 外部中断TCON=TCON|0x01; //触发方式为脉冲负边沿触发lcd_init();TMOD=0x51;TH0=(65536-50000)/256;TL0=(65536-50000)/256;TR0=1;count=0;display_sym();display_vel(0);display_unit();lcd_pos(0x40);g=0;while(begin[g]!='\0'){lcd_wdat(begin[g]);g++;}while(1){TR1=1;TH1=0;TL1=0;flag=0;display_sym();display_unit();while(flag==0);v=(TH1*256+TL1)*60/20;display_vel(v);}/**********************************************************/void IR_IN() interrupt 0 using 0{unsigned char j,k,N=0;unsigned char q=0;EX0 = 0;delay(15);if (IRIN==1){EX0 =1;return;}//确认IR信号出现while (!IRIN) //等IR变为高电平，跳过9ms的前导低电平信号。

delay(1);for (j=0;j<4;j++) //收集四组数据{for (k=0;k<8;k++) //每组数据有8位{while (IRIN) //等IR 变为低电平，跳过4.5ms的前导高电平信号。

{delay(1);}while (!IRIN) //等IR 变为高电平delay(1);while (IRIN) //计算IR高电平时长{delay(1);N++;if (N>=30){EX0=1;return;} //0.14ms计数过长自动离开。

} //高电平计数完毕IRCOM[j]=IRCOM[j] >> 1; //数据最高位补“0”if(N>=8){IRCOM[j] = IRCOM[j] | 0x80; //数据最高位补“1”}N=0;}}if(IRCOM[2]!=~IRCOM[3]){EX0=1;return;}IRCOM[5]=IRCOM[2] & 0x0F; //取键码的低四位IRCOM[6]=IRCOM[2] >> 4; //右移4次，高四位变为低四位if(IRCOM[5]>9){IRCOM[5]=IRCOM[5]+0x37;}elseIRCOM[5]=IRCOM[5]+0x30;if(IRCOM[6]>9){IRCOM[6]=IRCOM[6]+0x37;}elseIRCOM[6]=IRCOM[6]+0x30;q= (((IRCOM[6]&0x0f)<<4) + (IRCOM[5]&0x0f));switch(q) //判断按键键码值{case 0x16:m=0;break; //串口发送0case 0x03:m=1;t++;if(t>=5)t=4;break; //串口发送01case 0x18:m=2;n=2;break; //串口发送02case 0x55:m=3;t--;if(t<=0)t=0;break; //串口发送03case 0x08:m=4;n=4;break; //串口发送04case 0x13:m=5;n=5;break; //串口发送05case 0x51:m=6;n=6;break; //串口发送06case 0x42:m=7;break; //串口发送07case 0x52:m=8;n=8;break; //串口发送08case 0x41:m=9;break; //串口发送09default :break;}lcd_display();EX0 = 1;}/***************延时函数*****************************/ void delay(unsigned char x) //x*0.14MS{unsigned char i;while(x--){for (i = 0; i<13; i++) {}}}void lcd_display(){g=0;switch( m){case 1: lcd_init();lcd_pos(0x40);while(cdis1[g]!='\0') //减速{lcd_wdat(cdis1[g]);g++;}break;case 2: lcd_init();lcd_pos(0x40); //前进while(cdis2[g]!='\0'){lcd_wdat(cdis2[g]);g++;}break;case 3: lcd_init();lcd_pos(0x40); //加速while(cdis3[g]!='\0'){lcd_wdat(cdis3[g]);g++;}break;case 4: lcd_init();lcd_pos(0x40); //左转while(cdis4[g]!='\0'){lcd_wdat(cdis4[g]);g++;}break;case 5: lcd_init();lcd_pos(0x40); //停车while(cdis5[g]!='\0'){lcd_wdat(cdis5[g]);g++;}break;case 6: lcd_init();lcd_pos(0x40); //右转while(cdis6[g]!='\0'){lcd_wdat(cdis6[g]);g++;} break;case 8: lcd_init();lcd_pos(0x40); //倒车while(cdis8[g]!='\0'){lcd_wdat(cdis8[g]);g++;}break;default :break;}}void motor(){EN12=1;EN34=1;switch( n){ case 2: //前进M1=1;M2=0;M3=1;M4=0;/* delayxms(5-t);M1=0;M3=0;elayxms(t); */break;case 4: //左转M1=0;M2=0;M3=1;M4=0;/*delayxms(5-t);M1=0;M3=0;layxms(t+1); */break;case 6: //右转M1=1;M2=0;M3=0;M4=0;/*delayxms(5-t);M1=0;M3=0;layxms(t+1); */break;case 8: //后退M1=0;M2=1;M3=0;M4=1;/*delayxms(5-t);M2=0;M4=0;layxms(t); */break;case 5:EN12=0;EN34=0;break;default :break;}}/*******************************************************函数功能：定时器T0的中断服务函数********************************************************/void Time0(void ) interrupt 1 using 1 //定时器T0的中断编号为1，使用第1组工作寄存器{count++; //T0每中断1次，count加1if(count==20) //若累计满20次，即计满1秒钟{flag=1; //计满1秒钟标志位置1count=0; //清0，重新统计中断次数}TH0=(65536-46083)/256; //定时器T0高8位重新赋初值TL0=(65536-46083)%256; //定时器T0低8位重新赋初值}void delay1(int ms){unsigned char y;while(ms--){for(y = 0; y<250; y++){_nop_();_nop_();_nop_();_nop_();}}}//************************************************************void delayxms(uchar t){uint i;uchar j;for(j=t;j>0;j--)for(i=80;i>0;i--); //延时124*8+10=1002us}。