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#include<reg52.h>
#include<stdio.h>
#include <intrins.h>
#include<string.h>
#include<math.h>
#define uchar unsigned char //無符號(hào)字符型占用一個(gè)字節(jié) 范圍0~255,
#define uint unsigned int /*無符號(hào)整型占用二個(gè)字節(jié) 范圍0~65535*/
#define dataPort P1
uchar bianma1; //編碼計(jì)數(shù)
uint yejinjishu=0; //液晶計(jì)數(shù)
uchar wang=1;
uchar guo=1;
uchar a1=0,a2=0,a3=0,a4=0; //小車方向判斷
uchar b1=0,b2=0,b3=0,b4=0;
//電機(jī)操作初始化
uchar i=0,j=0; /* 中斷計(jì)數(shù)器 */
uchar m1=0; /* 電機(jī)1速度值 */
uchar m2=0; /* 電機(jī)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 */
//尋線紅外接收頭初始化
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;
//按鍵初始化
sbit markkey=P2^0;
sbit logokey=P2^1;
uchar mark=0; //選線while 標(biāo)志
uchar logo=0; //最佳路線行走標(biāo)記
unsigned char idata road[30]; //轉(zhuǎn)向數(shù)組
unsigned char code aa[10][4]={"LBL","LBA","ABL","ABA","ABR","RBA","RBR","RBL","LBR"};//數(shù)組無需改變 code
unsigned char code a[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 idata cun24c02[15];//ram允許情況可以無限添加記憶數(shù)組
// 函數(shù)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);
/********簡易延時(shí)函數(shù)******/
void delay(uint t)
{
for(t;t>0;t--);
}
void DelayUs(uint us) //標(biāo)準(zhǔn)延時(shí) us
{
unsigned char uscnt;
uscnt=us>>1;
while(--uscnt);
}
void DelayMs(uint ms) //標(biāo)準(zhǔn)延時(shí) ms
{
while(--ms)
{
DelayUs(250);
DelayUs(250);
DelayUs(250);
DelayUs(250);
}
}
//595 初始化串轉(zhuǎn)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_() //定義空指令
bit ack; //應(yīng)答標(biāo)志位
//sbit SDA=P2^1;
//sbit SCL=P2^0;
/*------------------------------------------------
啟動(dòng)總線
------------------------------------------------
void Start_I2c()
{
SDA=1; //發(fā)送起始條件的數(shù)據(jù)信號(hào)
_Nop();
SCL=1;
_Nop(); //起始條件建立時(shí)間大于4.7us,延時(shí)
_Nop();
_Nop();
_Nop();
_Nop();
SDA=0; //發(fā)送起始信號(hào)
_Nop(); //起始條件鎖定時(shí)間大于4μ
_Nop();
_Nop();
_Nop();
_Nop();
SCL=0; //鉗住I2C總線，準(zhǔn)備發(fā)送或接收數(shù)據(jù)
_Nop();
_Nop();
}
/*------------------------------------------------
結(jié)束總線
-----------------------------------------------
void Stop_I2c()
{
SDA=0; //發(fā)送結(jié)束條件的數(shù)據(jù)信號(hào)
_Nop(); //發(fā)送結(jié)束條件的時(shí)鐘信號(hào)
SCL=1; //結(jié)束條件建立時(shí)間大于4μ
_Nop();
_Nop();
_Nop();
_Nop();
_Nop();
SDA=1; //發(fā)送I2C總線結(jié)束信號(hào)
_Nop();
_Nop();
_Nop();
_Nop();
}
/*----------------------------------------------------------------
字節(jié)數(shù)據(jù)傳送函數(shù)
函數(shù)原型: void SendByte(unsigned char c);
功能: 將數(shù)據(jù)c發(fā)送出去,可以是地址,也可以是數(shù)據(jù),發(fā)完后等待應(yīng)答,并對(duì)
此狀態(tài)位進(jìn)行操作.(不應(yīng)答或非應(yīng)答都使ack=0 假)
發(fā)送數(shù)據(jù)正常，ack=1; ack=0表示被控器無應(yīng)答或損壞。
------------------------------------------------------------------
void SendByte(unsigned char c)
{
unsigned char BitCnt;
for(BitCnt=0;BitCnt<8;BitCnt++) //要傳送的數(shù)據(jù)長度為8位
{
if((c<<BitCnt)&0x80)SDA=1; //判斷發(fā)送位
else SDA=0;
_Nop();
SCL=1; //置時(shí)鐘線為高，通知被控器開始接收數(shù)據(jù)位
_Nop();
_Nop(); //保證時(shí)鐘高電平周期大于4μ
_Nop();
_Nop();
_Nop();
SCL=0;
}
_Nop();
_Nop();
SDA=1; //8位發(fā)送完后釋放數(shù)據(jù)線，準(zhǔn)備接收應(yīng)答位
_Nop();
_Nop();
SCL=1;
_Nop();
_Nop();
_Nop();
if(SDA==1)ack=0;
else ack=1; //判斷是否接收到應(yīng)答信號(hào)
SCL=0;
_Nop();
_Nop();
}
/*----------------------------------------------------------------
字節(jié)數(shù)據(jù)傳送函數(shù)
函數(shù)原型: unsigned char RcvByte();
功能: 用來接收從器件傳來的數(shù)據(jù),并判斷總線錯(cuò)誤(不發(fā)應(yīng)答信號(hào))，
發(fā)完后請(qǐng)用應(yīng)答函數(shù)。
------------------------------------------------------------------
unsigned char RcvByte()
{
unsigned char retc;
unsigned char BitCnt;
retc=0;
SDA=1; //置數(shù)據(jù)線為輸入方式
for(BitCnt=0;BitCnt<8;BitCnt++)
{
_Nop();
SCL=0; //置時(shí)鐘線為低，準(zhǔn)備接收數(shù)據(jù)位
_Nop();
_Nop(); //時(shí)鐘低電平周期大于4.7us
_Nop();
_Nop();
_Nop();
SCL=1; //置時(shí)鐘線為高使數(shù)據(jù)線上數(shù)據(jù)有效
_Nop();
_Nop();
retc=retc<<1;
if(SDA==1)retc=retc+1; //讀數(shù)據(jù)位,接收的數(shù)據(jù)位放入retc中
_Nop();
_Nop();
}
SCL=0;
_Nop();
_Nop();
return(retc);
}
/*----------------------------------------------------------------
應(yīng)答子函數(shù)
原型: void Ack_I2c(void);
---------------------------------------------------------------
void Ack_I2c(void)
{
SDA=0;
_Nop();
_Nop();
_Nop();
SCL=1;
_Nop();
_Nop(); //時(shí)鐘低電平周期大于4μ
_Nop();
_Nop();
_Nop();
SCL=0; //清時(shí)鐘線，鉗住I2C總線以便繼續(xù)接收
_Nop();
_Nop();
}
/*----------------------------------------------------------------
非應(yīng)答子函數(shù)
原型: void NoAck_I2c(void);
----------------------------------------------------------------
void NoAck_I2c(void)
{
SDA=1;
_Nop();
_Nop();
_Nop();
SCL=1;
_Nop();
_Nop(); //時(shí)鐘低電平周期大于4μ
_Nop();
_Nop();
_Nop();
SCL=0; //清時(shí)鐘線，鉗住I2C總線以便繼續(xù)接收
_Nop();
_Nop();
}
/*----------------------------------------------------------------
向有子地址器件發(fā)送多字節(jié)數(shù)據(jù)函數(shù)
函數(shù)原型: bit ISendStr(unsigned char sla,unsigned char suba,ucahr *s,unsigned char no);
功能: 從啟動(dòng)總線到發(fā)送地址，子地址,數(shù)據(jù)，結(jié)束總線的全過程,從器件
地址sla，子地址suba，發(fā)送內(nèi)容是s指向的內(nèi)容，發(fā)送no個(gè)字節(jié)。
如果返回1表示操作成功，否則操作有誤。
注意：使用前必須已結(jié)束總線。
----------------------------------------------------------------
bit ISendStr(unsigned char sla,unsigned char suba,unsigned char *s,unsigned char no)
{
unsigned char i;
for(i=0;i<no;i++)
{
Start_I2c(); //啟動(dòng)總線
SendByte(sla); //發(fā)送器件地址
if(ack==0)return(0);
SendByte(suba); //發(fā)送器件子地址
if(ack==0)return(0);
SendByte(*s); //發(fā)送數(shù)據(jù)
if(ack==0)return(0);
Stop_I2c(); //結(jié)束總線
DelayMs(1); //必須延時(shí)等待芯片內(nèi)部自動(dòng)處理數(shù)據(jù)完畢
s++;
suba++;
}
return(1);
}
/*----------------------------------------------------------------
向有子地址器件讀取多字節(jié)數(shù)據(jù)函數(shù)
函數(shù)原型: bit ISendStr(unsigned char sla,unsigned char suba,ucahr *s,unsigned char no);
功能: 從啟動(dòng)總線到發(fā)送地址，子地址,讀數(shù)據(jù)，結(jié)束總線的全過程,從器件
地址sla，子地址suba，讀出的內(nèi)容放入s指向的存儲(chǔ)區(qū)，讀no個(gè)字節(jié)。
如果返回1表示操作成功，否則操作有誤。
注意：使用前必須已結(jié)束總線。
---------------------------------------------------------------
bit IRcvStr(unsigned char sla,unsigned char suba,unsigned char *s,unsigned char no)
{
unsigned char i;
Start_I2c(); //啟動(dòng)總線
SendByte(sla); //發(fā)送器件地址
if(ack==0)return(0);
SendByte(suba); //發(fā)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<no-1;i++)
{
*s=RcvByte(); //發(fā)送數(shù)據(jù)
Ack_I2c(); //發(fā)送就答位
s++;
}
*s=RcvByte();
NoAck_I2c(); //發(fā)送非應(yīng)位
Stop_I2c(); //結(jié)束總線
return(1);
}
/*------------------------------------------------
主函數(shù)
------------------------------------------------
main()
{
//bit flag;
unsigned char i;
DelayMs(6000);
ISendStr(0xae,80,dat,5); //寫入24c02
DelayMs(10); //寫入后必須延時(shí)等待24c02內(nèi)部
//燒錄數(shù)據(jù)處理完畢方可繼續(xù)其他操作
IRcvStr(0xae,80,dat1,5); //從24c02讀出數(shù)據(jù)
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) //寫命令
{
checkBusy();
rs=0;
rw=0;
en=1;
dataPort=cmd;
_nop_();
en=0;
}
void writeData(unsigned char adata) //寫數(shù)據(jù)
{
checkBusy();
rs=1;
rw=0;
en=1;
dataPort=adata;
_nop_();
en=0;
}
unsigned char readData(void) //讀數(shù)據(jù)
{
unsigned char RData;
dataPort=0xff;
checkBusy();
rs=1;
rw=1;
en=0;
en=1;
RData=dataPort;
en=0;
return RData;
}
void ClrGDRAM(void) //顯示用戶自定義字符
{
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);
}
/*畫點(diǎn) 打點(diǎn)位置(x0,y0);color=1,點(diǎn)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<<(7-cbite));
}
else
{
tempL|=(1<<(15-cbite));
}
}
else
{
if(cbite<8)
{
tempH&=~(1<<(7-cbite));
}
else
{
tempL&=~(1<<(15-cbite));
}
}
writeData(tempH);
writeData(tempL);
writeCommand(0x30);
}
/**3X3個(gè)點(diǎn)合為一個(gè)**/
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 //最大長度
struct
{
uchar X[SNAKE_Max_Long];
uchar Y[SNAKE_Max_Long];
uchar Long;
}Snake; //小車結(jié)構(gòu)體
void Init_SNAKE(void)
{
uchar sum;
Snake.Long=2; //定義初始化小車的長度
for(sum=0;sum<Snake.Long;sum++) //將小車給賦值
{
Snake.X[sum]=sum+20;
Snake.Y[sum]=20;
}
for(sum=0;sum<Snake.Long;sum++) //將小車給畫出來
{
drawPoint_3(Snake.X[sum],Snake.Y[sum],1);
}
}
void keyscan() //轉(zhuǎn)彎檢測
{
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) //小車運(yùn)動(dòng)方向
{
uchar sum=0;
/***小車的運(yùn)動(dòng)方向**/
if(a1==1)
{
if(b1==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向右 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b2==1)
{
for(sum=0;sum<Snake.Long-1;sum++) //向左 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b3==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向下 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b4==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向上 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
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.Long-1;sum++) // 向下 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b2==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向上 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b3==1)
{
for(sum=0;sum<Snake.Long-1;sum++) //向左 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b4==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向右 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
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.Long-1;sum++) // 向上 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b2==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向下 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b3==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向右 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b4==1)
{
for(sum=0;sum<Snake.Long-1;sum++) //向左 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
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.Long-1;sum++) //向左 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b2==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向右 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b3==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向上 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
if(b4==1)
{
for(sum=0;sum<Snake.Long-1;sum++) // 向下 //小車身都是它前一段的小車身的位置
{
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; //小車頭向你要求的方向移動(dòng)
}
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;
}
}
}
}
/*******************************************
********************************************
*************小車部分***********************
********************************************
********************************************/
/********外部中斷定義*************/
void ini()
{
//EA=1; //全局中斷開
EX0=0; //外部中斷0開
IT0=1; //邊緣觸發(fā)
//EX1=0; //外部中斷1開
//IT1=1; //電平觸發(fā)
}
/*****外部中斷0函數(shù)*****/
void ini_t0() interrupt 0
{
bianma1--;
}
/********pwm中斷調(diào)速定義*************/
void pwm()
{
TMOD=0x01; /* 設(shè)定T0的工作模式為2 */
TH0=(65536-100)/256; /* 裝入定時(shí)器的初值晶振20MHZ 每100us中斷一次10次（即1MS）為1個(gè)PWM周期*/
TL0=(65536-100)%256;
EA=1; /* 開總中斷 */
ET0=1; /* 定時(shí)器0允許中斷 */
TR0=1; /* 啟動(dòng)定時(shí)器0 */
PT0=1;//高優(yōu)先級(jí)
}
/*****定時(shí)中斷函數(shù)2*****/
void timer0() interrupt 1 /* T0中斷服務(wù)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;
}
//岔路口轉(zhuǎn)向記錄
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");}
}
//記憶路徑播音
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;//關(guān)掉中斷
ISendStr(0xae,80,cun24c02,15); //寫入24c02
DelayMs(10); //寫入后必須延時(shí)等待24c02內(nèi)部
EA=1;//開啟中斷
}
// 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;//關(guān)掉中斷
IRcvStr(0xae,80,p,15); //從24c02讀出數(shù)據(jù)
EA=1;//開啟中斷
} */
/******************************************************
*******************************************************
************ISD1420p語音播報(bào)***************************
*******************************************************
*******************************************************/
sbit playe=P3^0;
uchar code temp[8]={0x00,0x10,0x20,0x30,0x40,0x50,0x70,0x90};
/* 0x00//左轉(zhuǎn) 延時(shí)400Ms
0x10//右轉(zhuǎn) 延時(shí)400Ms
0x20//掉頭延時(shí)400Ms
0x30//直走延時(shí)400Ms
0x40//到達(dá)終點(diǎn) 延時(shí)800Ms
0x50//最優(yōu)路徑計(jì)算完畢延時(shí)1600Ms
0x70//最優(yōu)路徑行駛延時(shí)1600Ms
0x90//智能迷宮小車延時(shí)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; */
}
/********************************************
*********************************************
*****************最優(yōu)路線計(jì)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用于計(jì)數(shù) f內(nèi)層標(biāo)記 f2外層標(biāo)記
do{
for(i=0;i<9;i++,f=1)
{
do
{
j=pq(road,aa[i],1); //選出匹配字符串下標(biāo)
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);//判斷本次匹配替換是否結(jié)束，如果否繼續(xù)匹配并替換
} //for循環(huán)結(jié)束
//*******校驗(yàn)
for(k=0;k<9;k++)
{
j=pq(road,aa[k],1);
if(j!=-1)
{
f2=1;break; //判斷是否仍然有匹配項(xiàng)目，如果有重新執(zhí)行內(nèi)層do~while語句
}else{f2=0;}
}//校驗(yàn)for結(jié)束
}while(f2==1); //外層do while 用于校驗(yàn)
return road; //road首地址
//printf("%s\n",turn2);scanf("%s",c);
}
/******************************************************
*******************************************************
*************小車路徑處理******************************
*******************************************************
*******************************************************/
/******************路口誤差排除函數(shù)********************/
uchar you=0;
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