【正文】 LACK EQU ；左邊黑線HANGAI EQU EFT_LAMP EQU ；左邊光源RIGHT_LAMP EQU ；右邊光源BELL EQU ；蜂鳴器LED EQU ；LEDDATA1602 EQU P1 ；1602數(shù)據(jù)端口RS EQU RW EQU E EQU ……………端口及單元定義………………………….IN1 EQU IN2 EQU ；L298N電機(jī)驅(qū)動芯片端口定義ENA EQU ；L298N ENA端口定義SECBUF EQU 21H ；秒緩沖MINBUF EQU 22H ；分緩沖BUF EQU 20H ；LCD1 EQU 30HLCD2 EQU 31HLCD3 EQU 32HLCD4 EQU 33HLCD5 EQU 34HCOUNTER EQU 35H ；計數(shù)次數(shù)LENGTH EQU 36H ；周長LICHENG EQU 37H ；里程ORG 0000HAJMP MAINORG 0003HLJMP EXT0ORG 000BHLJMP ITT0ORG 0013H ；外部中斷1，當(dāng)車輪轉(zhuǎn)一圈時，光電傳感器發(fā)出脈沖LJMP EXT1ORG 0100HMAIN: MOV R0,00H MOV LCD1,0 MOV LCD2,0 MOV LCD3,11 MOV LCD4,0 MOV LCD5,0 MOV BUF,0 MOV SECBUF，0 MOV MINBUF, 0SETB CLR CLR CLR MOV SP,60HMOV TMOD,11HMOV TH0,3CHMOV TL0,0B0HMOV LENGTH,1 ；設(shè)周長為1SETB EASETB ET0SETB ET1SETB IT0SETB EX0SETB EX1SETB TR0SETB MOV P1,00000001B ；清屏并光標(biāo)復(fù)位ACALL ENABLE ；調(diào)用寫入命令子程序MOV P1,00111000B ；設(shè)置顯示模式88位*2行，5*7點陣ACALL ENABLE ；調(diào)用寫入命令子程序MOV P1,00001100B ；顯示器開，光標(biāo)開，光標(biāo)允許閃爍ACALL ENABLE ；調(diào)用寫入命令子程序MOV P1,00000110B ；文字不動光標(biāo)自動右移ACALL ENABLE ；調(diào)用寫入命令子程序MOV P1,86H ；寫入顯示初始地址ACALL ENABLE ；調(diào)用寫入命令子程序MOV R7,5 ；設(shè)置每行顯示位數(shù)MOV DPTR,TAB ；調(diào)用寫入命令子程序MOV R0,30H ；顯示數(shù)據(jù)初始地址LCALL DISPLAY ；調(diào)用顯示程序CLR TR0 ；開定時器SETB ENACARFOR:LCALL MOTLJMP CARFORATART:LCALL ZZ?！姍C(jī)子程序……………MOT:JNB ,ZZJNB ,FFRETOFF:CLR IN1CLR IN2LCALL TTRETIZZ:CLR IN1CLR IN2LCALL TT CLR IN2SETB IN1LCALL TTLCALL TTSETB TR0 RETFF:CLR IN1 CLR IN2 LCALL TT CLR IN1 SETB IN2LCALL TTLCALL TTRETTT:MOV R4,50TT1:MOV R5,40DJNZ R5,$DJNZ R4,TT1RET……………中斷服務(wù)程序…………ITT0:MOV TH0,3CHMOV TL0,0B0HINC BUFMOV A,BUFCJNE A,20,DENNMOV BUF,00HINC SECBUFMOV A,SECBUFCJNE A,60,DISPLAYMOV SECBUF,00HINC MINBUFMOV A,MINBUFCJNE A,60,DISPLAYMOV SECBUF,00HMOV MINBUF,00HMOV MINBUF,00H………………中斷響應(yīng)時數(shù)據(jù)變化……DISPLAY: MOV A,SECBUF MOV B,10 DIV AB MOV LCD4,A MOV LCD5,b MOV LCD3,11 MOV A,MINBUF MOV B,10H DIV AB MOV LCD1,AMOV LCD2,BMOV P1,00000001BACALL ENABLEMOV P1,86HACALL ENABLEMOV R7,5MOV DPTR,TABMOV R0,LCD1………………數(shù)據(jù)處理……………RETURN： MOV A,@R0 MOVC A,@A+DPTR MOV P1,A SETB RS CLR RW CLR E ACALL BUSY SETB E INC R0 DJNZ R7,RETURNDENN： RETI …………………顯示輸出………………ENABLE:CLR RS ；送命令CLR RWCLR EACALL BUSYSETB ERETBUSY: MOV P1,0FFH CLR RS SETB RW CLR E NOP SETB E JB ,BUSY RETTAB:DB 30H,31H,32H,33H,34H,35H,36H,37H,38H,39H,20H,2DH；數(shù)據(jù)表格LOOP:SETB LCALL DELAYSJMP LOOPLOOP2:SETB LCALL DELAYSJMP LOOP2JIANCE:MOV C,MOV 22H,CMOV C,MOV 23H,CMOV C,MOV 24H,CGUIJI: JB 22H,TURNRIGHT JB 23H,TURNLEFT AJMP GUIJI RETZHANG: JB 24H,TUI LCALL TURNLEFT AJMP JIANCE JB 24H,TURNRIGHT AJMP JIANCETUI:LCALL FF RETTURNLEFT:CLR SETB ACALL DIRDELAYCLR CLR RETTURNRIGHT:SETB CLR ACALL DIRDELAYCLR CLR RETDIRDELAY： MOV R5,10 ；轉(zhuǎn)彎時間控制 DD0:MOV R7,126 DD:MOV R6,200 DJNZ R6,$ DJNZ R7,DD DJNZ R5,DD0 RET……………………外部中斷………………………………EXT0:PUSH ACCPUSH PSWSETB RS0CLR RS1CLR CLR MOV R2,5LCALL OFFLOOP3:CLR CALL DELAYCLR CALL DELAYCPL CALL DELAYSETB DJNZ R2,LOOP3POP PSWPOP ACCLCALL ZZRETIDELAY:MOV R5,50D1:MOV R6,20D2:MOV R7,248D4:DJNZ R7,$DJNZ R6,D2DJNZ R5,D1RETEXT1:INC COUNTER ；計算路程=圈數(shù)*周長MOV A,counterMOV b，LENGTHMOV A,BMOV LICHENG,ARETI……………………尋找光源……………………SEEK_LAMP:LCALL TURN_TO_LAMPMOV C,MOV 21H,CMOV C,MOV 22H,CLJMP SEEK_LAMPTURN_TO_LAMP:MOV C, JNC LOOK_RIGHT LCALL TURN_LEFT_MIDDLE RETLOOK_RIGHT:MOV C,MOV R6,4FHFORWARDLIGHT:LCALL DELAYDJNZ R6,FORWARDLIGHTLCALL YALCALL STOPJNC TURN_TO_LAMP_ENDLCALL TURN_RIGHT_MIDDLERETYA:MOV BUF,00H MOV SECBUF,0FFH MOV MINBUF,00HGO:MOV A,SECBUF CJNE A,5,STOP MOV BUF,00H MOV SECBUF,0FFH MOV MINBUF,00HSTOP:CLR IN1 CLR IN2LCALL DELAYTURN_TO_LAMP_END：RETTURN_RIGHT_MIDDLE: MOV 5AH,30TURN_RIGHT_MIDDLE_START:LCALL RUNRIGHT MOV C, JNC TURN_RIGHT_MIDDLE_START MOV 5AH,23RETTURN_LEFT_MIDDLE: MOV 5AH,30TURN_LEFT_MIDDLE_START: LCALL TURNLEFT MOV C, JNC TURN_RIGHT_MIDDLE_START MOV 5AH,23HRETEND附錄2：系統(tǒng)原