循迹小车+proteus仿真仿真.zip

#include<reg52.h> #include "1602.h" #include<intrins.h> void LCD_Init() { DelayMs(15); //延迟15ms，等待LCD电源稳定,使其进入工作状态 LCD_IO = 0x00; LCD_Write_Command(LCD_DISPLAY_DOUBLE_LINE); DelayMs(5); LCD_Write_Command(LCD_DISPLAY_DOUBLE_LINE); DelayMs(5); LCD_Write_Command(LCD_DISPLAY_DOUBLE_LINE); //显示模式设置为两行显示，8位数据接口，5*8点阵 DelayMs(5); LCD_Write_Command(LCD_AC_AUTO_INCREMENT | LCD_MOVE_DISENABLE); //数据读、写操作后,AC自动增一,画面不动 DelayMs(5); LCD_Write_Command(LCD_DISPLAY_ON | LCD_CURSOR_OFF); //显示开，光标不显示 DelayMs(5); LCD_Write_Command(LCD_CLEAR_SCREEN); //清除LCD显示内容 } /************延迟函数*******************************/ void DelayUs(uchar us)//delay us { unsigned char uscnt; uscnt=us>>1; /* Crystal frequency in 12MHz*/ while(--uscnt); } void DelayMs(uchar ms)//delay Ms { while(--ms) { DelayUs(250); DelayUs(250); DelayUs(250); DelayUs(250); } } /************LCD1602写指令*******************************/ void LCD_Write_Command(uchar com) { LCD_Check_Busy(); LCD_RS = LOW; LCD_RW = LOW; _nop_(); //一个_nop_();是一个机器周期，是1us LCD_EN = HIGH; LCD_IO = com; LCD_EN = LOW; } /********************************************************/ /*****************LCD1602写数据**************************/ void LCD_Write_Data(uchar dat) { LCD_Check_Busy(); LCD_RS = HIGH; LCD_RW = LOW; _nop_(); LCD_EN=HIGH; LCD_IO=dat; LCD_EN=LOW; } /********************************************************/ /**********************显示一个字节**************************/ void LCD_Char(uchar x, uchar line, uchar dat) //从第x开始写一个字节 { unsigned char address; if (line == LINE1) // line=0，为第一行 address = LINE1_HEAD + x; else // 否则为第二行 address = LINE2_HEAD + x; LCD_Write_Command(address); LCD_Write_Data(dat); } /********************************************************/ /******************LCD1602显示字符串*********************/ void LCD_Str(uchar x,uchar line,uchar *Str) //从第line行的第x位置开始显示字符串 { uchar i = x; if (line == LINE1) { while( *Str != '\0') LCD_Char(i++, 0, *Str++); } else { while( *Str != '\0') LCD_Char(i++, 1, *Str++); } } /***************************LCD忙碌状态*******************************/ void LCD_Check_Busy(void) //检测LCD状态,看它是不是还在忙呢 { do { LCD_EN=0; LCD_RS=0; LCD_RW=1; LCD_IO=0xff; LCD_EN=1; } while (LCD_BUSY==1); LCD_EN=0; } /*****************屏幕闪烁********************/ void LCD_Flash(uchar time) { //控制停留时间 LCD_Write_Command(LCD_DISPLAY_OFF); //关闭显示 DelayMs(time); //延时 LCD_Write_Command(LCD_DISPLAY_ON); //开显示 DelayMs(time); LCD_Write_Command(LCD_DISPLAY_OFF); //关闭显示 DelayMs(time); //延时 LCD_Write_Command(LCD_DISPLAY_ON); //开显示 DelayMs(time); }