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最新推荐文章于 2023-11-13 09:07:13 发布

qq_45951720

最新推荐文章于 2023-11-13 09:07:13 发布

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文章标签： c语言

本文链接：https://blog.youkuaiyun.com/qq_45951720/article/details/132981495

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头文件

//红外接口定义
sfr P4 = 0xe8;

//红外地址接口定义
sbit A0 = P4^0;
sbit A1 = P2^0;
sbit A2 = P2^7;

//红外传感器接收信号口定义
sbit irR1 = P2^1;//前（左）
sbit irR2 = P2^2;//左前
sbit irR3 = P2^3;//左
sbit irR4 = P2^4;//右
sbit irR5 = P2^5;//右前

//红外传感器检测状态全局位变量，0表示无障碍
unsigned char irC=0, irL=0, irR=0, irLU=0, irRU=0;

实现代码

#include <reg52.h>
#include "mouse.h"
#define uchar unsigned char
#define uint unsigned int
#define N 8
/* * * * * * * * * * * * * * * * *
*控制引脚申明
*/
sbit tube1 = P4^3;
sbit tube2 = P4^2;
sbit beep = P3^7;
/* * * * * * * * * * * * * * * * * *
*数据单元
*/
//原地转圈
uchar code run1[] = {0x11,0x33,0x22,0x66,0x44,0xcc,0x88,0x99,0x11};
//直行
uchar code run2[] = {0x11,0x39,0x28,0x6c,0x44,0xc6,0x82,0x93,0x11};
//数码管
uchar code table[] = {0xc0,0xcf,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e,0xff};
//地图
uchar map[8][8] = {0};
//位置坐标
uchar location[2] = {7,0};
//岔路口信息
uchar stack[17][2] = {0};
//char finall[17] = {0 ,0, 1, 1, 0 , 0 , 1 , 1 , 1 , 0 , 1 , 1 , 0 , 0 };//测试路径数据
char top = -1;
uchar direction = 0;
char head,rear,top1 = -1 ;
unsigned char b[6][2] ;//队列b，和记录路的座标的结构体数组
char way[17] = {0};//路径数据
void recall();//回溯
void voice();
uchar pass(uchar way);
void init(){//初始化队列
head = 0;
rear = 0;
}
void pop(){//弹出队列成员
char i;
for(i = 1;i <= rear; i++)
{
b[i-1][0] = b[i][0];
b[i-1][1] = b[i][1];
}
rear --;
}
void record(char x ,char y){//将走过的点信息加入队列，next为指向
//上一个节点数据的指针
b[rear][0] = x;
b[rear][1] = y;
rear ++;
}

/*
*延时1ms
*/
void delayms(uint n)
{
   uchar i,j;
   for(j=n;j>0;j--)
   for(i=112;i>0;i--);
}

/* * * * * * * * * * * * * * * * * * * * * * * * * *
*移动单元
* * * * * * * * * * * * * * * * * * * * * * * * * *
*
*直行
*/
void go_straight()
{
//   uchar j,i;
//   for(j=0;j<106;j++)//一圈
//   {
//       for(i=8;i>0;i--)
//       {
//           P1 = run2[i];
//           delayms(2);
//       }
//   }
   uchar i,j,k,l = 21;
   while(l--){
       for(i=0;i<5;i++)
       {
           for(j=8;j>0;j--)
           {
               P1 = run2[j];
               delayms(3);
           }
       }
           if((irLU==1) && (irC == 0))
           {
               //voice();
               for(k = 0 ;k < 3; k++)
               {
                   for(j=0;j<8;j++)
                   {
                       P1 = run1[j];
                       delayms(3);
                   }
               }

           }
           if((irRU==1) && (irC == 0))
           {
               //voice();
               for(k = 0;k < 3; k++)
               {
                   for(j=8;j>0;j--)
                   {
                       P1 = run1[j];
                       delayms(3);
                   }
               }
           }
       }
}

/*
*掉头
*/
void back()
{
   uchar i,j;
   for(i=0;i<102;i++)
   {
       for(j=0;j<8;j++)
       {
           P1 = run1[j];
           delayms(2);
       }
   }
   direction = (direction + 2) % 4;
}

/*
*右转
*/
void turn_right()
{
   uchar i,j;
   for(i=0;i<52;i++)
   {
       for(j=0;j<8;j++)
       {
           P1 = run1[j];
           delayms(2);
       }
   }
   direction = (direction + 1) % 4;
}

/*
*左转
*/
void turn_left()
{
   uchar i,j;
   for(i=0;i<52;i++)
   {
       for(j=8;j>0;j--)
       {
           P1 = run1[j];
           delayms(2);
       }
   }
   direction = (direction + 3) % 4;
}
/*
*冲刺
*/
void run_fast()
{
       uchar i,j,k,l = 20;
   while(l--){
       for(i=0;i<5;i++)
       {
           for(j=8;j>0;j--)
           {
               P1 = run2[j];
               delayms(2);
           }
       }
           if((irLU==1) && (irC == 0))
           {

               for(k = 0 ;k < 3; k++)
               {
                   for(j=0;j<8;j++)
                   {
                       P1 = run1[j];
                       delayms(2);
                   }
               }

           }
           if((irRU==1) && (irC == 0))
           {

               for(k = 0;k < 3; k++)
               {
                   for(j=8;j>0;j--)
                   {
                       P1 = run1[j];
                       delayms(2);
                   }
               }
           }
       }
}

/* * * * * * * * * * * * * * * * * * * * * * * * * *
*外设单元
* * * * * * * * * * * * * * * * * * * * * * * * * *
*
*蜂鸣器
*/
void voice()
{
   uchar j = 0;
       for(j = 10;j>0;j--){
           beep = ~beep;
           delayms(10);
       }
       for(j = 100;j>0;j--){
           beep = 1;
           delayms(10);
       }
}

/*
*数码管
*/
void display(uchar num)
{
   uchar a,b;
   a = num / 10;
   b = num % 10;

   tube2 = 0;
   tube1 = 1;
   P0 = table[a];
   delayms(2);
   tube1 = 0;

   tube1 = 0;
   tube2 = 1;
   P0 = table[b];
   delayms(2);
   tube2 = 0;
}
行，列显示
void now_x(uchar num)
{
   tube2 = 0;
   tube1 = 1;
   P0 = table[num];
   delayms(2);
   tube1 = 0;
}
void now_y(uchar num)
{
   tube1 = 0;
   tube2 = 1;
   P0 = table[num];
   delayms(2);
   tube2 = 0;
}
/* * * * * * * * * * * * * * * * * * * * * * * * * *
*传感器单元
* * * * * * * * * * * * * * * * * * * * * * * * * *
*
*红外发射
*/
void mouse_ir_on(uchar group_no)
{
   A0 = (group_no) & 0x01;
   A1 = (group_no) & 0x02;
   A2 = (group_no) & 0x04;
}

/*
*设置T2自动重装载寄存器和计数器
*/
void setTime2(uint us)
{
   TH2 = (65536 - us) % 256;
   RCAP2H = (65536 - us) / 256;
   TL2 = (65536 -us) % 256;
   RCAP2L = (65536 - us) % 256;
}
/*
*定时计数器初始化
*/
void initTime2()
{
   EA = 1;
   ET2 = 1;
   setTime2(5000);//设置5ms中断一次
   TR2 = 1;
}
/*
*避障测试
*/
void test()
{
   if(!irR)
   {
       turn_right();
       delayms(500);
       go_straight();
       delayms(1000);
   }
   else if(!irC)
   {
       go_straight();
       delayms(500);
       delayms(1000);
   }
   else if(!irL)
   {
       turn_left();
       delayms(500);
       go_straight();
       delayms(1000);
   }
   else
   {
       back();
       delayms(500);
       go_straight();
       delayms(500);
       voice();
       delayms(1000);
   }

}
void ir_test(){ // 测试某个方向的红外

if(irL||irR||irC){
beep = 0;
}else{
beep = 1;
}

}
/* * * * * * * * * * * * * * *
* 第一部分遍历迷宫
* 地图初始化
*/
void init_map()
{
   uchar i,j;
   //入栈
   top++;
   stack[top][0] = location[0];
   stack[top][1] = location[1];
   for(i=0;i<8;i++)
   {
       for(j=0;j<8;j++)
       {
           map[i][j] = 0xff;
       }
   }
}

/*
*记录当前位置信息
*/
void save()
{    unsigned char temp = 0,count = 0,temp1 = 0;
       switch(direction)//地图信息的记录* * * * 初次进入此单元格
       {
           case 0:temp+=irC; temp<<=1 ; temp+=irR; temp<<=2; temp+=irL; map[location[0]][location[1]] &= (0xf0+temp); map[location[0]][location[1]] &= 0xdf; break;
           case 1:temp+=irL; temp<<=1 ; temp+=irC; temp<<=1; temp+=irR; temp<<=1; map[location[0]][location[1]] &= (0xf0+temp); map[location[0]][location[1]] &= 0xef; break;
           case 2:temp+=irL; temp<<=1 ; temp+=irC; temp<<=1; temp+=irR; map[location[0]][location[1]] &= (0xf0+temp); map[location[0]][location[1]] &= 0x7f; break;
           case 3:temp+=irR; temp<<=2 ; temp+=irL; temp<<=1; temp+=irC; map[location[0]][location[1]] &= (0xf0+temp); map[location[0]][location[1]] &= 0xbf; break;
       }
       if(location[0] == 7 && location[1] == 0)
       map[7][0] = 0xf7;
       //判断是否为岔路口
       if((!irC) && pass(0))
           count++;
       if((!irR) && pass(1))
           count++;
       if((!irL) && pass(3))
           count++;
       if(count>=2)//记录岔路口信息
       {
           top++;
           stack[top][0] = location[0];
           stack[top][1] = location[1];
       }
}
/*
*检查当前要走的方向是否走过
*走过为0，否则为1
*/
uchar pass(uchar way)
{
       unsigned char x1,y1;
   x1 = location[0];
   y1 = location[1];
       switch(direction)
       {
           case 0:
           {
               switch(way)
               {
                   case 0: if(map[x1 - 1][y1] == 0xff) return 1; return 0;//上
                   case 1: if(map[x1][y1 + 1] == 0xff) return 1; return 0;//右
                   case 3: if(map[x1][y1 - 1] == 0xff) return 1; return 0;//左
               }

           }
           case 1:
           {
               switch(way)
               {
                   case 0: if(map[x1][y1+1] == 0xff) return 1; return 0;//右
                   case 1: if(map[x1+1][y1] == 0xff) return 1; return 0;//下
                   case 3: if(map[x1-1][y1] == 0xff) return 1; return 0;//上
               }
           }
           case 2:
           {
               switch(way)
               {
                   case 0: if(map[x1+1][y1] == 0xff) return 1; return 0;//下
                   case 1: if(map[x1][y1-1] == 0xff) return 1; return 0;//左
                   case 3: if(map[x1][y1+1] == 0xff) return 1; return 0;//右
               }
           }
           case 3:
           {
               switch(way)
               {
                   case 0: if(map[x1][y1-1] == 0xff) return 1; return 0;//左
                   case 1: if(map[x1-1][y1] == 0xff) return 1; return 0;//上
                   case 3: if(map[x1+1][y1] == 0xff) return 1; return 0;//下
               }
           }
       }
}
/*
* * 更新当前位置信息
* 上右下左 0 1 2 3
*/
void move()
{
   switch(direction)
   {
       case 0: {
           location[0] -= 1;
           break;
       }
       case 1:{
       location[1] += 1;
       break;
   }
       case 2:{
           location[0] += 1;
           break;
       }
       case 3:{
           location[1] -= 1;
           break;
       }
   }
}
/*
* 回溯
*/
void recall()
{
   unsigned char temp = 0,count = 0,temp1 = 0,i = 0;
   temp = map[location[0]][location[1]];
   while(1)
   {
       temp = map[location[0]][location[1]];
       if(!((temp >>= 4) & 0x01))//左
       {

           switch(direction)
           {
               case 0: turn_left(); delayms(100); go_straight();delayms(100); break;
               case 1: back();delayms(100);go_straight();delayms(100); break;
               case 2: turn_right(); delayms(100); go_straight();delayms(100); break;
               case 3: go_straight(); delayms(100); break;
           }
           move();
           temp = map[location[0]][location[1]];
       }
       //显示当前坐标
   now_x(location[0]);
   now_y(location[1]);
       if(location[0] == stack[top][0] && location[1] == stack[top][1])
           break;


       temp = map[location[0]][location[1]];
       if(!((temp >>= 5) & 0x01))//下
       {
           switch(direction)
           {
               case 0: back();delayms(100);go_straight();delayms(100); break;
               case 1: turn_right(); delayms(100);go_straight();delayms(100);break;
               case 2: go_straight(); delayms(100); break;
               case 3: turn_left();delayms(100);go_straight();delayms(100);break;
           }
           move();
           temp = map[location[0]][location[1]];
       }
       //显示当前坐标
   now_x(location[0]);
   now_y(location[1]);
       if(location[0] == stack[top][0] && location[1] == stack[top][1])
           break;

       temp = map[location[0]][location[1]];
       if(!((temp >>= 6) & 0x01))//右
       {
           switch(direction)
           {
               case 0: turn_right();delayms(100);go_straight();delayms(100);break;
               case 1: go_straight();delayms(100); break;
               case 2: turn_left();delayms(100);go_straight();delayms(100); break;
               case 3: back();delayms(100);go_straight();delayms(100); break;
           }
           move();
           temp = map[location[0]][location[1]];
       }
       //显示当前坐标
   now_x(location[0]);
   now_y(location[1]);
       if(location[0] == stack[top][0] && location[1] == stack[top][1])
           break;

       temp = map[location[0]][location[1]];
       if(!((temp >>= 7) & 0x01))//上
       {
           switch(direction)
           {
               case 0: go_straight(); delayms(100); break;
               case 1: turn_left();delayms(100);go_straight();delayms(100); break;
               case 2: back();delayms(100);go_straight();delayms(100); break;
               case 3: turn_right();delayms(100); go_straight();delayms(100);break;
           }
           move();
           temp = map[location[0]][location[1]];
       }
       //显示当前坐标
   now_x(location[0]);
   now_y(location[1]);
       if(location[0] == stack[top][0] && location[1] == stack[top][1])
           break;
   }
   top--;//弹栈
}
/*
*遍历迷宫
*/
void find()
{
   //显示当前坐标
   now_x(location[0]);
   now_y(location[1]);
   //等待检测
//   delayms(2);
   //判断当前位置是否为第一次到达
   if(map[location[0]][location[1]] == 0xff)
   save();

       if(irR==0&&pass(1))//右边无挡板且未走过
           {
               turn_right();
               delayms(100);
               go_straight();
               delayms(500);
               move();
           }
           else if(irC==0&&pass(0))//右边有挡板，前边无且未走过
           {
               go_straight();
               delayms(500);
               move();
           }
           else if(irL==0&&pass(3))//右边有挡板前边有，左边无
           {
               turn_left();
               delayms(100);
               go_straight();
               delayms(500);
               move();
           }
           else//死胡同
           {
               recall();
           }

}
/* * * * * * * * * * * * * *
* 第二部分寻找最优路径
* 地图设置
*/
void set_map()
{
   unsigned char i,j,temp=0;
   for(i = 0; i < N ; i++)
   {
       for(j = 0;j < N; j++)
       {
           temp = map[i][j];
           temp &= 0x0f;
           temp += 0x10;
           map[i][j] = temp;
       }
   }
}
/*
* 开始寻路
*/
void go_map(){//遍历地图
char count = 1, num = 1, loop = 1, first = 0, temp1 = 0, flag = 0;
unsigned char temp[2] = {0} ;
record(7,0);//起点坐标..............
while(1){
if(head >=rear )return ;//当队头和队尾相等时，退出
temp[0] = b[0][0];
temp[1] = b[0][1];
pop();

if( temp[0] == 0 && temp[1] == 7){//当走到终点时，用way 数组又保存返回到起点的路径
           map[temp[0]][temp[1]] = num++;
return ;
}
temp1 = map[temp[0]][temp[1]];
flag = 0;
//左方
if((!(temp1 &= 0x01)) && map[temp[0]][temp[1]-1] >> 4)//遍历四个方向，只要满足条件，//就加入队列
{
record(temp[0] , temp[1] -1 );
flag += 1;
}
//下方
       temp1 = map[temp[0]][temp[1]];
temp1 >>= 1;
if((!(temp1 &= 0x01)) && map[temp[0]+1][temp[1]] >>4){
record(temp[0] + 1 ,temp[1] );
flag += 1;
}
//右方
temp1 = map[temp[0]][temp[1]];
       temp1 >>= 2;
if((!(temp1 &= 0x01)) && map[temp[0]][temp[1]+1] >>4){
record(temp[0] ,temp[1] + 1 );
flag += 1;
}
temp1 = map[temp[0]][temp[1]];
       temp1 >>= 3;
//上方
if((!(temp1 &= 0x01)) && map[temp[0]-1][temp[1]] >>4){
record(temp[0]- 1 ,temp[1]);
flag += 1;
}
if(flag >=2 && first == 0)
{
   count += flag - 1;
   first = 1;
}
else if(flag >= 2){
   count += flag - 1;
}
if(flag >0){
   map[temp[0]][temp[1]] = num;
   loop --;
}
else{
   map[temp[0]][temp[1]] = num;
   loop --;
   count --;
}

if(loop == 0)
{
   loop = count;
   num++;
}
}
}
/*
* 准备冲刺
*/
void final_way()
{

   char x = 0, y = 7;//终点坐标
   while(1)
   {
       if(x == 7 && y == 0)//起点坐标
       break;
           if((map[x-1][y] == (map[x][y] - 1)) && (x-1 >=0))//上方
           {
               top1++;
               way[top1] = 2;
               x -= 1;
               continue;
           }
           if((map[x][y+1] == (map[x][y] - 1)) && (y+1 <= 7))//右方
           {
               top1++;
               way[top1] = 3;
               y += 1;
               continue;
           }
           if((map[x+1][y] == (map[x][y] - 1)) && (x+1 <= 7))//下方
           {
               top1++;
               way[top1] = 0;
               x += 1;
               continue;
           }
           if((map[x][y-1] == (map[x][y] - 1)) && (y-1 >= 0))//左方
           {
               top1++;
               way[top1] = 1;
               y -= 1;
               continue;
           }
   }
}
/* * * * * * * * * * * * *
* 第三部分冲刺
* 冲刺
*/
//void run()
//{
// direction = 2;
//   top1 = 13;
//   back();
//   while(top1 > -1)
//   {
//       switch(direction){
//           case 0:
//               {
//
//           switch(finall[top1])
//           {
//               case 1: turn_right(); run_fast() ; break;
//               case 0: run_fast() ; break;
//           }
//           break;
//       }
//           case 1:{
//
//
//           switch(finall[top1])
//           {
//               case 1: run_fast() ;break;
//               case 0: turn_left(); run_fast() ; break;
//           }
//       break;
//       }
//   }
//       top1--;
//   }

//}

void main()
{
//   initTime2();//初始化定时器
//   while(1){
//       //test();
//       ir_test();
//   }

   initTime2();//初始化定时器
   init_map();//初始化地图
   while(top >= 0)
   {
       delayms(500);
       find();//遍历地图
   }

   set_map();//处理地图

   init();//初始化队列

   go_map();//寻路

   final_way();//准备冲刺

//   run();//冲刺
//   voice();
//   voice();
//   voice();
   while(1);
}
/*
*中断服务函数
*/
void time2() interrupt 5{ // TIM2中断服务函数
static bit ir = 0;
static unsigned char n=1;
TF2 = 0;
if(!ir)   {
mouse_ir_on(n-1);
}else{
if(n==1){
if(irR1)   irC=0;
else           irC=1;
}else if(n==2){
if(irR2)   irLU=0;
else           irLU=1;
}else if(n==3){
if(irR3)   irL=0;
else           irL=1;
}else if(n==4){
if(irR4)   irR=0;
else           irR=1;
}else if(n==5){
if(irR5)   irRU=0;
else           irRU=1;
}
}
if(ir)   n++;
if(n>5)   n=1;
ir=~ir;
}