#include
#include
#define?uchar?unsigned?char
#define?uint?unsigned?int
sbit?PB0=P2^0;
sbit?PB1=P2^1;
sbit?PB2=P2^2;
sbit?SPK=P2^3;

sbit?L1=P3^4;
sbit?L2=P3^5;
sbit?R1=P3^6;
sbit?R2=P3^7;

sbit?leftlight=P1^0;
sbit?middlight=P1^1;
sbit?rightlight=P1^2;

sbit?ctrlA?=?P1^4;
sbit?ctrlB?=?P1^5;
sbit?ctrlC?=?P1^6;
sbit?ctrlD?=?P1^7;

uchar?code?laydown[]={“laying?down?????“};
uchar?code?seached[]={“Seached?light????“};
uchar?code?seaching[]={“Seaching?light????“};
uchar?code?start[]={“Start!????????????“};
uchar?code?finish[]={“Finished!!!???????“};
uchar?code?go[]={“GO!GO!GO!???????“};
uchar?code?leftside[]={“Left?Side?!!?????“};
uchar?code?rightside[]={“Right?Side?!!????“};
uchar?code?waiting[]={“waiting?start???“};
uchar?code?ctrlmode[]={“Ctrl?Mode???????“};

uint?times?=?0;
uint?count?=?0;
uchar?comd=0comdtime?=?0comdopen?=?0;
uchar?step=1;
uchar?blackline=0;
void?displaytimer（n）
{	uchar?geshi;
	ge=n%10;shi=n/10;
	display_lcd_byte（014number[shi]）;
	display_lcd_byte（015number[ge]）;		
}
void?displaycomd（n）
{	
	display_lcd_byte（115number[n]）;		
}
void?leftup（）
{
	L1?=?0;
	L2?=?1;
	delay（40）;
	L2=?0;
	delay（50）;
}
void?leftback（）
{
	
	L2?=?0;
	L1?=?1;
	delay（40）;
	L1=?0;
	delay（50）;
}
void?rightup（）
{
	R1?=?0;
	R2?=?1;
	delay（40）;
	R2=?0;
	delay（50）;
}
void?rightback（）
{
	R2?=?0;
	R1?=?1;
	delay（40）;
	R1=?0;
	delay（50）;
	
}
void?allstop（）
{
	R1=R2=L1=L2=0;
}
void?moveup（）
{
	L1=R1=0;
	L2=R2=1;
	delay（40）;
	L2=R2=0;
	delay（20）;
}
void?moveback（）
{
	L1=R1=1;
	L2=R2=0;
}
void?speaker（n）
{
	SPK=1;
	delay（n）;
	SPK=0;
}
uchar?firstseachlight（）
{		
	while（middlight?!=?0）
	{	while（leftlight?==?0）
		{	
			allstop（）;
			rightup（）;
		//	display_lcd_text（10leftside）;
		}
		while（rightlight?==?0）
		{	allstop（）;
			leftup（）;
		//	display_lcd_byte（00‘R‘）;
			display_lcd_text（10rightside）;
		}
		if（leftlight?!=?0?&&?rightlight?!=?0）
		{
			allstop（）;
			rightup（）;
		//	display_lcd_text（10seaching）;	
		}
	}	
		if（middlight?==?0?&&?leftlight?!=?0?&&?rightlight?!=?0）
		???{
			display_lcd_text（10seached）;
			return?1;
			}
		else?return?0;	
}
/***********************************************
uchar?seachlight（）
{		
	while（middlight?!=?0）
	{	while（rightlight?==?0）
		{	
			allstop（）;
			rightup（）;
			display_lcd_text（10leftside）;
		}
		while（leftlight?==?0）
		{	allstop（）;
			leftup（）;
		//	display_lcd_byte（00‘R‘）;
			display_lcd_text（10rightside）;
		}
	}	
		if（middlight?==?0?&&?leftlight?!=?0?&&?rightlight?!=?0）
		???{
			display_lcd_text（10seached）;
			return?1;
			}
		else?return?0;	
}
***********************************************/
void?InitTimer0（void）??//定時1ms?
{
????TMOD?=?0x01;
????TH0?=?0x0FC;
????TL0?=?0x18;
????EA?=?1;
????ET0?=?1;
//????TR0?=?1;
}

main（）
{
	uchar?ctrlkey=0;
	IE?=?0x83;
	TCON?=?0X05;
	IP?=?0x02;
	LCD1602（）;
	init（）;
	SPK=0;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????179065??2012-06-19?16:03??尋光小車\Backup?of?CONTROL

?????文件??????29260??2012-06-18?23:03??尋光小車\Backup?of?CONTROL.Sch

?????文件??????63950??2012-06-18?22:32??尋光小車\Backup?of?GM.PCB

?????文件??????52884??2012-11-17?00:14??尋光小車\Backup?of?PCB1.PCB

?????文件??????28866??2012-06-13?13:31??尋光小車\Backup?of?RPR220.Sch

?????文件???????6495??2012-06-13?23:32??尋光小車\Backup?of?Sheet1.Sch

?????文件???????8431??2012-06-18?22:32??尋光小車\Backup?of?光敏二極管?.Sch

?????文件??????17566??2012-07-02?18:01??尋光小車\code\control

?????文件???????4371??2012-07-02?18:01??尋光小車\code\control.hex

?????文件?????????43??2012-07-02?18:01??尋光小車\code\control.lnp

?????文件??????23833??2012-07-02?18:01??尋光小車\code\control.M51

?????文件??????13386??2012-07-02?18:03??尋光小車\code\control.plg

?????文件?????142879??2012-07-02?18:03??尋光小車\code\control.uvopt

?????文件??????13234??2012-06-22?05:07??尋光小車\code\control.uvproj

?????文件?????142879??2012-07-02?18:03??尋光小車\code\control_uvopt.bak

?????文件??????13225??2012-06-18?17:07??尋光小車\code\control_uvproj.bak

?????文件???????4829??2012-07-02?18:01??尋光小車\code\main.c

?????文件??????13124??2012-07-02?18:01??尋光小車\code\main.LST

?????文件??????20208??2012-07-02?18:01??尋光小車\code\main.OBJ

?????文件???????3916??2012-06-23?08:44??尋光小車\code\main0.txt

?????文件???????2417??2011-06-18?16:21??尋光小車\code\my?1602.H

?????文件???????4104??2012-06-23?09:43??尋光小車\code\初步完成.txt

?????文件???????3207??2012-06-23?11:00??尋光小車\code\完成.txt

?????文件?????179055??2012-06-18?23:03??尋光小車\Previous?Backup?of?CONTROL

?????文件??????29270??2012-06-18?22:32??尋光小車\Previous?Backup?of?CONTROL.Sch

?????文件??????63581??2012-06-15?16:50??尋光小車\Previous?Backup?of?GM.PCB

?????文件??????53387??2012-06-14?22:31??尋光小車\Previous?Backup?of?PCB1.PCB

?????文件???????5928??2012-06-13?13:10??尋光小車\Previous?Backup?of?RPR220.Sch

?????文件???????6479??2012-06-13?15:27??尋光小車\Previous?Backup?of?Sheet1.Sch

?????文件???????8458??2012-06-15?14:23??尋光小車\Previous?Backup?of?光敏二極管?.Sch

............此處省略29個文件信息