From 5dbb9e174e8705b0224be389cfabc683b5e1ae03 Mon Sep 17 00:00:00 2001
From: htujun <134864016@qq.com>
Date: Sat, 9 Apr 2022 18:26:47 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90=E6=89=8B=E6=9C=BAapp?=
 =?UTF-8?q?=E8=AE=BE=E7=BD=AE=E9=83=A8=E5=88=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 IRIN.LST          |  180 ++++---
 IRIN.OBJ          |  Bin 8490 -> 9443 bytes
 IRIN.c            |   89 +--
 i2c.LST           |    6 +-
 i2c.OBJ           |  Bin 5761 -> 5761 bytes
 i2c.h             |    4 +-
 lcd.LST           |  218 +++++---
 lcd.OBJ           |  Bin 5490 -> 3496 bytes
 lcd.c             |  174 ++++--
 lcd.h             |   52 +-
 main.LST          |  390 +++++++-------
 main.OBJ          |  Bin 19961 -> 19299 bytes
 main.c            |  122 ++---
 pro               |  Bin 40466 -> 38200 bytes
 pro.M51           | 1319 +++++++++++++++++++++------------------------
 pro.build_log.htm |    4 +-
 pro.hex           |  650 ++++++++++------------
 pro.uvgui.QY      |  228 ++++----
 pro.uvopt         |    4 +-
 pwm.LST           |  116 ++--
 pwm.OBJ           |  Bin 3898 -> 5329 bytes
 pwm.c             |   34 +-
 pwm.h             |   27 +-
 23 files changed, 1775 insertions(+), 1842 deletions(-)

diff --git a/IRIN.LST b/IRIN.LST
index 5d82104..5614865 100644
--- a/IRIN.LST
+++ b/IRIN.LST
@@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   IRIN                                                              04/08/2022 03:09:39 PAGE 1   
+C51 COMPILER V9.56.0.0   IRIN                                                              04/09/2022 17:31:01 PAGE 1   
 
 
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE IRIN
@@ -11,15 +11,15 @@ line level    source
    2          #include "i2c.h"
    3          
    4          uint mileage = 0;
-   5          
-   6          uint count=0;   
-   7          
-   8          uchar ms=0;
-   9          uint speed=0;
-  10          uint r_s=0;
-  11          
-  12          extern uint model;
-  13          extern uchar set;
+   5          uint count=0;   
+   6          uchar ms=0;
+   7          uint speed=0;
+   8          uint r_s=0;
+   9          
+  10          extern uchar play;
+  11          extern uint Seep_model;
+  12          extern struct UserInfo usr;
+  13          extern uchar model;
   14          
   15          void delay11(int i)
   16          {
@@ -40,85 +40,97 @@ line level    source
   31          
   32          void display()
   33          {
-  34   1        LcdSetCursor(0,0);
-  35   1        LcdShowStr(0,0,"");
-  36   1        Lcd1602_Write_Data(0x30+speed/100%10);
-  37   1        Lcd1602_Write_Data(0x30+speed/10%10);
-  38   1        Lcd1602_Write_Data(0x30+speed%10);
-  39   1        LcdShowStr(3,0,"KM/h ");
-  40   1        
-  41   1        LcdShowStr(8,0,"");
-  42   1        Lcd1602_Write_Data(0x30+mileage/100%10);
-  43   1        Lcd1602_Write_Data(0x30+mileage/10%10);
-  44   1        Lcd1602_Write_Data(0x30+mileage%10);
-  45   1        LcdShowStr(11,0,"m         ");
-  46   1        
-  47   1        if(model == 0) LcdShowStr(13,0," ");
-  48   1        else if(model == 1) LcdShowStr(13, 0, "L");
-  49   1        else if(model == 2) LcdShowStr(13, 0, "M");
-  50   1        else LcdShowStr(13, 0, "H");
-  51   1      }
-  52          
-  53          
-  54          void Key_scan(){
-  55   1        if(k1==0)
-C51 COMPILER V9.56.0.0   IRIN                                                              04/08/2022 03:09:39 PAGE 2   
+  34   1        // 显示速度
+  35   1        LcdWriteCom(0x80 + 2);
+  36   1        LcdWriteData(0x30+speed/100%10);
+  37   1        LcdWriteData(0x30+speed/10%10);
+  38   1        LcdWriteData(0x30+speed%10);
+  39   1      
+  40   1        // 显示里程
+  41   1        LcdWriteCom(0x80 + 8);
+  42   1        LcdWriteData(0x30+mileage/1000%10);
+  43   1        LcdWriteData(0x30+mileage/100%10);
+  44   1        LcdWriteData(0x30+mileage/10%10);
+  45   1        LcdWriteData(0x30+mileage%10);
+  46   1        LcdWriteData('m');
+  47   1      
+  48   1        LcdWriteCom(0x80 + 14);
+  49   1        if(Seep_model == 0) LcdWriteData('N');
+  50   1        else if(Seep_model == 1) LcdWriteData('L');
+  51   1        else if(Seep_model == 2) LcdWriteData('M');
+  52   1        else if(Seep_model == 3) LcdWriteData('H');
+  53   1        
+  54   1        // 显示目标里程
+  55   1        LcdWriteCom(0x80 + 0x40);
+C51 COMPILER V9.56.0.0   IRIN                                                              04/09/2022 17:31:01 PAGE 2   
 
-  56   1        {
-  57   2          delay11(1000);  //��������
-  58   2          if(k1==0){
-  59   3            model++;
-  60   3            if(model >= 4) model = 0;
-  61   3          }
-  62   2          while(!k1);
-  63   2        }
-  64   1        
-  65   1        if(k2==0)
-  66   1        {
-  67   2          delay11(1000);  //��������
-  68   2          if(k2==0){
-  69   3            set = 1;
-  70   3          }
-  71   2          while(!k2);
-  72   2        }
-  73   1      
-  74   1      }
-  75          
-  76          void time0() interrupt 1  
-  77          {
-  78   1        static int time = 0;
-  79   1        TH0=0XFc;
-  80   1        TL0=0X18;
-  81   1        time++; 
-  82   1        pwm_out_right_moto();
-  83   1        if(time >= 500){
-  84   2          EX1=0;
-  85   2          time = 0;    
-  86   2          r_s=count;                  
-  87   2          count=0;
-  88   2          EX1=1;        
-  89   2          speed=speed*0.5+(r_s*6)*0.5;         
-  90   2          speed=(0.15*speed);
-  91   2          mileage = mileage+(r_s*2.5/20);
-  92   2        }
-  93   1      }
-  94          
-  95          void int1() interrupt 2 
-  96          {
-  97   1        count++;      
-  98   1      }
-  99          
- 100          
- 101          
- 102          
+  56   1        LcdWriteData(0x30+usr.target_mileage/1000%10);
+  57   1        LcdWriteData(0x30+usr.target_mileage/100%10);
+  58   1        LcdWriteData(0x30+usr.target_mileage/10%10);
+  59   1        LcdWriteData(0x30+usr.target_mileage%10);
+  60   1        LcdWriteData('m');
+  61   1        
+  62   1        LcdWriteCom(0x80 + 0x40 + 8);
+  63   1        LcdWriteData(0x30+usr.Remaining_mileage/1000%10);
+  64   1        LcdWriteData(0x30+usr.Remaining_mileage/100%10);
+  65   1        LcdWriteData(0x30+usr.Remaining_mileage/10%10);
+  66   1        LcdWriteData(0x30+usr.Remaining_mileage%10);
+  67   1        LcdWriteData('m');
+  68   1      
+  69   1         LcdWriteCom(0x80 + 0x40 + 14);
+  70   1         if(model == 0) LcdWriteData('D');
+  71   1         else LcdWriteData('S');
+  72   1      }
+  73          
+  74          void Key_scan(){
+  75   1        if(k1==0){
+  76   2          delay11(1000);  
+  77   2          if(k1==0){
+  78   3            Seep_model++;
+  79   3            if(Seep_model >= 4) Seep_model = 0;
+  80   3          }
+  81   2          while(!k1);
+  82   2        }
+  83   1      }
+  84          
+  85          void time0() interrupt 1  
+  86          {
+  87   1        static int time = 0;
+  88   1        TH0=0XFc;
+  89   1        TL0=0X18;
+  90   1        time++; 
+  91   1        pwm_out_right_moto();
+  92   1        if(time >= 500){
+  93   2          EX1=0;
+  94   2          time = 0;    
+  95   2          r_s = count * 3 / 20;    // 500ms计算一次  求每秒钟的圈数,珊格数为20  r_s = count * 2 / 2
+             -0             
+  96   2          speed= (r_s * 6) * 2;
+  97   2          mileage = mileage + (count / 20 * 3);
+  98   2          if(mileage > 9999) mileage = 9999;
+  99   2          count=0;
+ 100   2          EX1 = 1;
+ 101   2        }
+ 102   1      }
  103          
- 104          
- 105           
+ 104          void int1() interrupt 2 
+ 105          {
+ 106   1        count++;      
+ 107   1      }
+ 108          
+ 109          
+ 110          
+ 111          
+ 112          
+ 113          
+ 114           
 
 
+C51 COMPILER V9.56.0.0   IRIN                                                              04/09/2022 17:31:01 PAGE 3   
+
 MODULE INFORMATION:   STATIC OVERLAYABLE
-   CODE SIZE        =    623    ----
-   CONSTANT SIZE    =     26    ----
+   CODE SIZE        =    712    ----
+   CONSTANT SIZE    =   ----    ----
    XDATA SIZE       =   ----    ----
    PDATA SIZE       =   ----    ----
    DATA SIZE        =     11    ----
diff --git a/IRIN.OBJ b/IRIN.OBJ
index 48dee80100ae4ee8ee807980b4d585211bfff2ef..9729f8cfc6efebebad929921d19513cd204c955b 100644
GIT binary patch
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f12ZfaghB_lqWiF@<us`zKJHbE`BcVD`q6&?D(FQ_

diff --git a/IRIN.c b/IRIN.c
index ba8e76f..3abc030 100644
--- a/IRIN.c
+++ b/IRIN.c
@@ -2,15 +2,15 @@
 #include "i2c.h"
 
 uint mileage = 0;
-
 uint count=0;	  
-
 uchar ms=0;
 uint speed=0;
 uint r_s=0;
 
-extern uint model;
-extern uchar set;
+extern uchar play;
+extern uint Seep_model;
+extern struct UserInfo usr;
+extern uchar model;
 
 void delay11(int i)
 {
@@ -31,46 +31,55 @@ void IRIN_Init(void)
 
 void display()
 {
-	LcdSetCursor(0,0);
-	LcdShowStr(0,0,"");
-	Lcd1602_Write_Data(0x30+speed/100%10);
-	Lcd1602_Write_Data(0x30+speed/10%10);
-	Lcd1602_Write_Data(0x30+speed%10);
-	LcdShowStr(3,0,"KM/h ");
+	// 显示速度
+	LcdWriteCom(0x80 + 2);
+	LcdWriteData(0x30+speed/100%10);
+	LcdWriteData(0x30+speed/10%10);
+	LcdWriteData(0x30+speed%10);
+
+	// 显示里程
+	LcdWriteCom(0x80 + 8);
+	LcdWriteData(0x30+mileage/1000%10);
+	LcdWriteData(0x30+mileage/100%10);
+	LcdWriteData(0x30+mileage/10%10);
+	LcdWriteData(0x30+mileage%10);
+	LcdWriteData('m');
+
+	LcdWriteCom(0x80 + 14);
+	if(Seep_model == 0) LcdWriteData('N');
+	else if(Seep_model == 1) LcdWriteData('L');
+	else if(Seep_model == 2) LcdWriteData('M');
+	else if(Seep_model == 3) LcdWriteData('H');
 	
-	LcdShowStr(8,0,"");
-	Lcd1602_Write_Data(0x30+mileage/100%10);
-	Lcd1602_Write_Data(0x30+mileage/10%10);
-	Lcd1602_Write_Data(0x30+mileage%10);
-	LcdShowStr(11,0,"m         ");
+	// 显示目标里程
+	LcdWriteCom(0x80 + 0x40);
+	LcdWriteData(0x30+usr.target_mileage/1000%10);
+	LcdWriteData(0x30+usr.target_mileage/100%10);
+	LcdWriteData(0x30+usr.target_mileage/10%10);
+	LcdWriteData(0x30+usr.target_mileage%10);
+	LcdWriteData('m');
 	
-	if(model == 0) LcdShowStr(13,0," ");
-	else if(model == 1) LcdShowStr(13, 0, "L");
-	else if(model == 2) LcdShowStr(13, 0, "M");
-	else LcdShowStr(13, 0, "H");
+	LcdWriteCom(0x80 + 0x40 + 8);
+	LcdWriteData(0x30+usr.Remaining_mileage/1000%10);
+	LcdWriteData(0x30+usr.Remaining_mileage/100%10);
+	LcdWriteData(0x30+usr.Remaining_mileage/10%10);
+	LcdWriteData(0x30+usr.Remaining_mileage%10);
+	LcdWriteData('m');
+
+	 LcdWriteCom(0x80 + 0x40 + 14);
+	 if(model == 0) LcdWriteData('D');
+	 else LcdWriteData('S');
 }
 
-
 void Key_scan(){
-	if(k1==0)
-	{
-		delay11(1000);  //��������
+	if(k1==0){
+		delay11(1000);  
 		if(k1==0){
-			model++;
-			if(model >= 4) model = 0;
+			Seep_model++;
+			if(Seep_model >= 4) Seep_model = 0;
 		}
 		while(!k1);
 	}
-	
-	if(k2==0)
-	{
-		delay11(1000);  //��������
-		if(k2==0){
-			set = 1;
-		}
-		while(!k2);
-	}
-
 }
 
 void time0() interrupt 1	
@@ -83,12 +92,12 @@ void time0() interrupt 1
 	if(time >= 500){
 		EX1=0;
 		time = 0;		 
-		r_s=count;			 						
+		r_s = count * 3 / 20;	 	 // 500ms计算一次  求每秒钟的圈数,珊格数为20  r_s = count * 2 / 20 						
+		speed= (r_s * 6) * 2;
+		mileage = mileage + (count / 20 * 3);
+		if(mileage > 9999) mileage = 9999;
 		count=0;
-		EX1=1;				
-		speed=speed*0.5+(r_s*6)*0.5;         
-		speed=(0.15*speed);
-		mileage = mileage+(r_s*2.5/20);
+		EX1 = 1;
 	}
 }
 
diff --git a/i2c.LST b/i2c.LST
index c195677..a84b9ce 100644
--- a/i2c.LST
+++ b/i2c.LST
@@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   I2C                                                               04/08/2022 02:58:55 PAGE 1   
+C51 COMPILER V9.56.0.0   I2C                                                               04/09/2022 14:48:34 PAGE 1   
 
 
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE I2C
@@ -62,7 +62,7 @@ line level    source
   53          /*******************************************************************************
   54          * ������         : I2cSendByte(unsigned char dat)
   55          * ��������     : ͨ��I2C����һ���ֽڡ���SCLʱ���źŸߵ�ƽ�ڼ䣬���ַ����ź�SDA�����ȶ�
-C51 COMPILER V9.56.0.0   I2C                                                               04/08/2022 02:58:55 PAGE 2   
+C51 COMPILER V9.56.0.0   I2C                                                               04/09/2022 14:48:34 PAGE 2   
 
   56          * ����           : num
   57          * ���           : 0��1�����ͳɹ�����1������ʧ�ܷ���0
@@ -126,7 +126,7 @@ line level    source
  115   1      }
  116          
  117          
-C51 COMPILER V9.56.0.0   I2C                                                               04/08/2022 02:58:55 PAGE 3   
+C51 COMPILER V9.56.0.0   I2C                                                               04/09/2022 14:48:34 PAGE 3   
 
  118          /*******************************************************************************
  119          * ������         : void At24c02Write(unsigned char addr,unsigned char dat)
diff --git a/i2c.OBJ b/i2c.OBJ
index ea099e0f96c714741629478b317a1c3e9ba1bd81..6e25b3e6d03654ead8b6f8d0b3ba0a1527036a44 100644
GIT binary patch
delta 243
zcmZqFZPcCMChMdVn8coGl&t6P<i*I~zRWj?6~s$sVzAQ*oS3Y^Xt%NFC?neh24<!J
z!^z=HCX5p%_b|yYPMo}w$(r%O<flxUOcN_73o!5IpCH7*a0pCHWMW|0Hu)BF0~d&U
zX#$WdKRJbEgVBVyst^8xluZN@+`BoRUIHtaXfT1F>(%8cCmg<kW$GD}AT(pZW;a%Q
zMkR<Upq@9X5B@Bg@Wj}O1!fBGUXG{hS(a~J&Su0c26S^069d=>8MhLZ7$hwJg)uQq
MERf#J#Z}G&0ILK{7ytkO

delta 243
zcmZqFZPcCMCYx{KpTwSNl&t6P<i*I~zRWj?6~s$sVn|i?pO~z{_<m#0QAV}~24<!J
zgUR7cCX5Y}dzfSx8z--1vSt*V{FF(Psj+ji0P}AC1|bH9LtvtjiGktS<Xg-QTp;eH
z1|Zjdatg}^qlUMt5B`FbH3A9l-5gIZffY0wH1Ko1x;*8C!#A)@J%bX2W<0Rjjn$q}
z38D(9=Z)%vKZ_ck7(21ROyS+j@pL`Q^UcfIjF`oMZcbui0Q(?gU!oF&gyp|5CWeUx
K(wn)s%6R~~4@?*U

diff --git a/i2c.h b/i2c.h
index 36939e3..09c7392 100644
--- a/i2c.h
+++ b/i2c.h
@@ -3,8 +3,8 @@
 
 #include <reg51.h>
 
-sbit SCL=P0^1;
-sbit SDA=P0^0;
+sbit SCL=P1^1;
+sbit SDA=P1^0;
 
 void I2cStart();
 void I2cStop();
diff --git a/lcd.LST b/lcd.LST
index ec1e623..4851607 100644
--- a/lcd.LST
+++ b/lcd.LST
@@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   LCD                                                               04/08/2022 02:58:55 PAGE 1   
+C51 COMPILER V9.56.0.0   LCD                                                               04/09/2022 15:45:29 PAGE 1   
 
 
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE LCD
@@ -7,92 +7,152 @@ COMPILER INVOKED BY: D:\Keil_v5\C51\BIN\C51.EXE lcd.c OPTIMIZE(8,SPEED) BROWSE D
 
 line level    source
 
-   1          #include  "lcd.h"
+   1          #include"lcd.h"
    2          
-   3          
-   4          void Read_Busy()           //æ��⺯�����ж�bit7��0������ִ�У�1��ֹ
-   5          {
-   6   1          unsigned char sta;      //
-   7   1          LCD1602_DB = 0xff;
-   8   1          LCD1602_RS = 0;
-   9   1          LCD1602_RW = 1;
-  10   1          do
-  11   1          {
-  12   2              LCD1602_EN = 1;
-  13   2              sta = LCD1602_DB;
-  14   2              LCD1602_EN = 0;    //ʹ�ܣ���������ͣ��ͷ�����
-  15   2          }while(sta & 0x80);
-  16   1      }
-  17          
-  18          void Lcd1602_Write_Cmd(unsigned char cmd)     //���
-  19          {
-  20   1          Read_Busy();
-  21   1          LCD1602_RS = 0;
-  22   1          LCD1602_RW = 0;
-  23   1          LCD1602_DB = cmd;
-  24   1          LCD1602_EN = 1;
-  25   1          LCD1602_EN = 0;    
-  26   1      }
-  27          
-  28          void Lcd1602_Write_Data(unsigned char dat)   //���
-  29          {
-  30   1            Read_Busy();
-  31   1            LCD1602_RS = 1;
-  32   1            LCD1602_RW = 0;
-  33   1            LCD1602_DB = dat;
-  34   1            LCD1602_EN = 1;
-  35   1            LCD1602_EN = 0;
-  36   1      }
-  37          
-  38          void LcdSetCursor(unsigned char x,unsigned char y)  //������ʾ
-  39          {
-  40   1          unsigned char addr;
-  41   1          if(y == 0)
-  42   1              addr = 0x00 + x;
-  43   1          else
-  44   1              addr = 0x40 + x;
-  45   1          
-  46   1          Lcd1602_Write_Cmd(addr|0x80);
-  47   1      }
-  48          
-  49          //��ָ��λ����ʾһ���ַ�
-  50          void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData)
-  51          {
-  52   1        Y &= 0x1;
-  53   1        X &= 0xF; //����X���ܴ���15��Y���ܴ���1
-  54   1        if (Y) X |= 0x40; //��Ҫ��ʾ�ڶ���ʱ��ַ��+0x40;
-  55   1        X |= 0x80; //���ָ����
-C51 COMPILER V9.56.0.0   LCD                                                               04/08/2022 02:58:55 PAGE 2   
+   3          /*******************************************************************************
+   4          * �� �� ��         : Lcd1602_Delay1ms
+   5          * ��������       : ��ʱ��������ʱ1ms
+   6          * ��    ��         : c
+   7          * ��    ��         : ��
+   8          * ˵    ��         : �ú�������12MHZ�����£�12��Ƶ��Ƭ������ʱ��
+   9          *******************************************************************************/
+  10          
+  11          void Lcd1602_Delay1ms(uint c)   //��� 0us
+  12          {
+  13   1          uchar a,b;
+  14   1        for (; c>0; c--)
+  15   1        {
+  16   2           for (b=199;b>0;b--)
+  17   2           {
+  18   3              for(a=1;a>0;a--);
+  19   3           }      
+  20   2        }
+  21   1            
+  22   1      }
+  23          
+  24          /*******************************************************************************
+  25          * �� �� ��         : LcdWriteCom
+  26          * ��������       : ��LCDд��һ���ֽڵ�����
+  27          * ��    ��         : com
+  28          * ��    ��         : ��
+  29          *******************************************************************************/
+  30          #ifndef   LCD1602_4PINS  //��û�ж������LCD1602_4PINSʱ
+  31          void LcdWriteCom(uchar com)   //�����
+  32          {
+  33   1        LCD1602_E = 0;     //ʹ��
+  34   1        LCD1602_RS = 0;    //ѡ��������
+  35   1        LCD1602_RW = 0;    //ѡ��д��
+  36   1        
+  37   1        LCD1602_DATAPINS = com;     //��������
+  38   1        Lcd1602_Delay1ms(1);    //�ȴ������ȶ�
+  39   1      
+  40   1        LCD1602_E = 1;            //д��ʱ��
+  41   1        Lcd1602_Delay1ms(5);    //����ʱ��
+  42   1        LCD1602_E = 0;
+  43   1      }
+  44          #else 
+              void LcdWriteCom(uchar com)   //�����
+              {
+                LCD1602_E = 0;   //ʹ������
+                LCD1602_RS = 0;  //ѡ��д������
+                LCD1602_RW = 0;  //ѡ��д��
+              
+                LCD1602_DATAPINS = com; //����4λ�Ľ����ǽӵ�P0�ڵĸ���λ�����Դ��͸���λ���ø�
+                Lcd1602_Delay1ms(1);
+              
+                LCD1602_E = 1;   //д��ʱ��
+                Lcd1602_Delay1ms(5);
+C51 COMPILER V9.56.0.0   LCD                                                               04/09/2022 15:45:29 PAGE 2   
 
-  56   1        Lcd1602_Write_Cmd(X); //��������
-  57   1        Lcd1602_Write_Data(DData); //������
-  58   1      }
-  59          
-  60          
-  61          void LcdShowStr(unsigned char x,unsigned char y,unsigned char *str)     //��ʾ�ַ���
-  62          {
-  63   1          LcdSetCursor(x,y);      //��ǰ�ַ�������
-  64   1          while(*str != '\0')
-  65   1          {
-  66   2              Lcd1602_Write_Data(*str++);
-  67   2          }
-  68   1      }
-  69          
-  70          void InitLcd1602()              //1602��ʼ��
-  71          {
-  72   1          Lcd1602_Write_Cmd(0x38);    //�򿪣�5*8,8λ����
-  73   1          Lcd1602_Write_Cmd(0x0c);
-  74   1          Lcd1602_Write_Cmd(0x06);
-  75   1          Lcd1602_Write_Cmd(0x01);    //����   
-  76   1      }
+                LCD1602_E = 0;
+              
+              //  Lcd1602_Delay1ms(1);
+                LCD1602_DATAPINS = com << 4; //���͵���λ
+                Lcd1602_Delay1ms(1);
+              
+                LCD1602_E = 1;   //д��ʱ��
+                Lcd1602_Delay1ms(5);
+                LCD1602_E = 0;
+              }
+              #endif
+  67          /*******************************************************************************
+  68          * �� �� ��         : LcdWriteData
+  69          * ��������       : ��LCDд��һ���ֽڵ�����
+  70          * ��    ��         : dat
+  71          * ��    ��         : ��
+  72          *******************************************************************************/       
+  73          #ifndef   LCD1602_4PINS      
+  74          void LcdWriteData(uchar dat)      //�����
+  75          {
+  76   1        LCD1602_E = 0;  //ʹ������
+  77   1        LCD1602_RS = 1; //ѡ����������
+  78   1        LCD1602_RW = 0; //ѡ��д��
+  79   1      
+  80   1        LCD1602_DATAPINS = dat; //�����
+  81   1        Lcd1602_Delay1ms(1);
+  82   1      
+  83   1        LCD1602_E = 1;   //д��ʱ��
+  84   1        Lcd1602_Delay1ms(5);   //����ʱ��
+  85   1        LCD1602_E = 0;
+  86   1      }
+  87          #else
+              void LcdWriteData(uchar dat)      //�����
+              {
+                LCD1602_E = 0;    //ʹ������
+                LCD1602_RS = 1;   //ѡ��д������
+                LCD1602_RW = 0;   //ѡ��д��
+              
+                LCD1602_DATAPINS = dat; //����4λ�Ľ����ǽӵ�P0�ڵĸ���λ�����Դ��͸���λ���ø�
+                Lcd1602_Delay1ms(1);
+              
+                LCD1602_E = 1;    //д��ʱ��
+                Lcd1602_Delay1ms(5);
+                LCD1602_E = 0;
+              
+                LCD1602_DATAPINS = dat << 4; //д�����λ
+                Lcd1602_Delay1ms(1);
+              
+                LCD1602_E = 1;    //д��ʱ��
+                Lcd1602_Delay1ms(5);
+                LCD1602_E = 0;
+              }
+              #endif
+ 109          /*******************************************************************************
+ 110          * �� �� ��       : LcdInit()
+ 111          * ��������     : ��ʼ��LCD��
+ 112          * ��    ��       : ��
+ 113          * ��    ��       : ��
+ 114          *******************************************************************************/       
+ 115          #ifndef   LCD1602_4PINS
+ 116          void LcdInit()              //LCD��ʼ���ӳ���
+ 117          {
+C51 COMPILER V9.56.0.0   LCD                                                               04/09/2022 15:45:29 PAGE 3   
+
+ 118   1        LcdWriteCom(0x38);  //����ʾ
+ 119   1        LcdWriteCom(0x0c);  //����ʾ����ʾ���
+ 120   1        LcdWriteCom(0x06);  //дһ��ָ���1
+ 121   1        LcdWriteCom(0x01);  //����
+ 122   1        LcdWriteCom(0x80);  //��������ָ�����
+ 123   1      }
+ 124          #else
+              void LcdInit()              //LCD��ʼ���ӳ���
+              {
+                LcdWriteCom(0x32);   //��8λ����תΪ4λ����
+                LcdWriteCom(0x28);   //����λ���µij�ʼ��
+                LcdWriteCom(0x0c);  //����ʾ����ʾ���
+                LcdWriteCom(0x06);  //дһ��ָ���1
+                LcdWriteCom(0x01);  //����
+                LcdWriteCom(0x80);  //��������ָ�����
+              }
+              #endif
 
 
 MODULE INFORMATION:   STATIC OVERLAYABLE
-   CODE SIZE        =    157    ----
+   CODE SIZE        =     87    ----
    CONSTANT SIZE    =   ----    ----
    XDATA SIZE       =   ----    ----
    PDATA SIZE       =   ----    ----
-   DATA SIZE        =   ----       3
+   DATA SIZE        =   ----    ----
    IDATA SIZE       =   ----    ----
    BIT SIZE         =   ----    ----
 END OF MODULE INFORMATION.
diff --git a/lcd.OBJ b/lcd.OBJ
index 7d32b00d6b7b5e0162a26dc95a2f2329e9b6682d..033ddcd10f07058918604a76d5bf8cac3ab63eba 100644
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diff --git a/lcd.c b/lcd.c
index 69fa40f..b32b713 100644
--- a/lcd.c
+++ b/lcd.c
@@ -1,76 +1,134 @@
-#include  "lcd.h"
+#include"lcd.h"
 
+/*******************************************************************************
+* �� �� ��         : Lcd1602_Delay1ms
+* ��������		   : ��ʱ��������ʱ1ms
+* ��    ��         : c
+* ��    ��         : ��
+* ˵    ��         : �ú�������12MHZ�����£�12��Ƶ��Ƭ������ʱ��
+*******************************************************************************/
 
-void Read_Busy()           //æ��⺯�����ж�bit7��0������ִ�У�1��ֹ
+void Lcd1602_Delay1ms(uint c)   //��� 0us
 {
-    unsigned char sta;      //
-    LCD1602_DB = 0xff;
-    LCD1602_RS = 0;
-    LCD1602_RW = 1;
-    do
-    {
-        LCD1602_EN = 1;
-        sta = LCD1602_DB;
-        LCD1602_EN = 0;    //ʹ�ܣ���������ͣ��ͷ�����
-    }while(sta & 0x80);
+    uchar a,b;
+	for (; c>0; c--)
+	{
+		 for (b=199;b>0;b--)
+		 {
+		  	for(a=1;a>0;a--);
+		 }      
+	}
+    	
 }
 
-void Lcd1602_Write_Cmd(unsigned char cmd)     //���
+/*******************************************************************************
+* �� �� ��         : LcdWriteCom
+* ��������		   : ��LCDд��һ���ֽڵ�����
+* ��    ��         : com
+* ��    ��         : ��
+*******************************************************************************/
+#ifndef 	LCD1602_4PINS	 //��û�ж������LCD1602_4PINSʱ
+void LcdWriteCom(uchar com)	  //�����
 {
-    Read_Busy();
-    LCD1602_RS = 0;
-    LCD1602_RW = 0;
-    LCD1602_DB = cmd;
-    LCD1602_EN = 1;
-    LCD1602_EN = 0;    
-}
+	LCD1602_E = 0;     //ʹ��
+	LCD1602_RS = 0;	   //ѡ��������
+	LCD1602_RW = 0;	   //ѡ��д��
+	
+	LCD1602_DATAPINS = com;     //��������
+	Lcd1602_Delay1ms(1);		//�ȴ������ȶ�
 
-void Lcd1602_Write_Data(unsigned char dat)   //���
-{
-      Read_Busy();
-      LCD1602_RS = 1;
-      LCD1602_RW = 0;
-      LCD1602_DB = dat;
-      LCD1602_EN = 1;
-      LCD1602_EN = 0;
+	LCD1602_E = 1;	          //д��ʱ��
+	Lcd1602_Delay1ms(5);	  //����ʱ��
+	LCD1602_E = 0;
 }
-
-void LcdSetCursor(unsigned char x,unsigned char y)  //������ʾ
+#else 
+void LcdWriteCom(uchar com)	  //�����
 {
-    unsigned char addr;
-    if(y == 0)
-        addr = 0x00 + x;
-    else
-        addr = 0x40 + x;
-    
-    Lcd1602_Write_Cmd(addr|0x80);
-}
+	LCD1602_E = 0;	 //ʹ������
+	LCD1602_RS = 0;	 //ѡ��д������
+	LCD1602_RW = 0;	 //ѡ��д��
 
-//��ָ��λ����ʾһ���ַ�
-void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData)
+	LCD1602_DATAPINS = com;	//����4λ�Ľ����ǽӵ�P0�ڵĸ���λ�����Դ��͸���λ���ø�
+	Lcd1602_Delay1ms(1);
+
+	LCD1602_E = 1;	 //д��ʱ��
+	Lcd1602_Delay1ms(5);
+	LCD1602_E = 0;
+
+//	Lcd1602_Delay1ms(1);
+	LCD1602_DATAPINS = com << 4; //���͵���λ
+	Lcd1602_Delay1ms(1);
+
+	LCD1602_E = 1;	 //д��ʱ��
+	Lcd1602_Delay1ms(5);
+	LCD1602_E = 0;
+}
+#endif
+/*******************************************************************************
+* �� �� ��         : LcdWriteData
+* ��������		   : ��LCDд��һ���ֽڵ�����
+* ��    ��         : dat
+* ��    ��         : ��
+*******************************************************************************/		   
+#ifndef 	LCD1602_4PINS		   
+void LcdWriteData(uchar dat)			//�����
 {
-	Y &= 0x1;
-	X &= 0xF; //����X���ܴ���15��Y���ܴ���1
-	if (Y) X |= 0x40; //��Ҫ��ʾ�ڶ���ʱ��ַ��+0x40;
-	X |= 0x80; //���ָ����
-	Lcd1602_Write_Cmd(X); //��������
-	Lcd1602_Write_Data(DData); //������
+	LCD1602_E = 0;	//ʹ������
+	LCD1602_RS = 1;	//ѡ����������
+	LCD1602_RW = 0;	//ѡ��д��
+
+	LCD1602_DATAPINS = dat; //�����
+	Lcd1602_Delay1ms(1);
+
+	LCD1602_E = 1;   //д��ʱ��
+	Lcd1602_Delay1ms(5);   //����ʱ��
+	LCD1602_E = 0;
 }
+#else
+void LcdWriteData(uchar dat)			//�����
+{
+	LCD1602_E = 0;	  //ʹ������
+	LCD1602_RS = 1;	  //ѡ��д������
+	LCD1602_RW = 0;	  //ѡ��д��
+
+	LCD1602_DATAPINS = dat;	//����4λ�Ľ����ǽӵ�P0�ڵĸ���λ�����Դ��͸���λ���ø�
+	Lcd1602_Delay1ms(1);
 
+	LCD1602_E = 1;	  //д��ʱ��
+	Lcd1602_Delay1ms(5);
+	LCD1602_E = 0;
 
-void LcdShowStr(unsigned char x,unsigned char y,unsigned char *str)     //��ʾ�ַ���
+	LCD1602_DATAPINS = dat << 4; //д�����λ
+	Lcd1602_Delay1ms(1);
+
+	LCD1602_E = 1;	  //д��ʱ��
+	Lcd1602_Delay1ms(5);
+	LCD1602_E = 0;
+}
+#endif
+/*******************************************************************************
+* �� �� ��       : LcdInit()
+* ��������		 : ��ʼ��LCD��
+* ��    ��       : ��
+* ��    ��       : ��
+*******************************************************************************/		   
+#ifndef		LCD1602_4PINS
+void LcdInit()						  //LCD��ʼ���ӳ���
 {
-    LcdSetCursor(x,y);      //��ǰ�ַ�������
-    while(*str != '\0')
-    {
-        Lcd1602_Write_Data(*str++);
-    }
+ 	LcdWriteCom(0x38);  //����ʾ
+	LcdWriteCom(0x0c);  //����ʾ����ʾ���
+	LcdWriteCom(0x06);  //дһ��ָ���1
+	LcdWriteCom(0x01);  //����
+	LcdWriteCom(0x80);  //��������ָ�����
 }
-
-void InitLcd1602()              //1602��ʼ��
+#else
+void LcdInit()						  //LCD��ʼ���ӳ���
 {
-    Lcd1602_Write_Cmd(0x38);    //�򿪣�5*8,8λ����
-    Lcd1602_Write_Cmd(0x0c);
-    Lcd1602_Write_Cmd(0x06);
-    Lcd1602_Write_Cmd(0x01);    //����   
+	LcdWriteCom(0x32);	 //��8λ����תΪ4λ����
+	LcdWriteCom(0x28);	 //����λ���µij�ʼ��
+	LcdWriteCom(0x0c);  //����ʾ����ʾ���
+	LcdWriteCom(0x06);  //дһ��ָ���1
+	LcdWriteCom(0x01);  //����
+	LcdWriteCom(0x80);  //��������ָ�����
 }
+#endif
diff --git a/lcd.h b/lcd.h
index acb4ad2..7855d23 100644
--- a/lcd.h
+++ b/lcd.h
@@ -1,17 +1,17 @@
-#ifndef  __LCD_H_
-#define  __LCD_H_
+#ifndef __LCD_H_
+#define __LCD_H_
 /**********************************
-��ʹ�õ���4λ���ݴ����ʱ���壬
-ʹ��8λȡ���������
+当使用的是4位数据传输的时候定义，
+使用8位取消这个定义
 **********************************/
 //#define LCD1602_4PINS
 
 /**********************************
-����ͷ�ļ�
+包含头文件
 **********************************/
-#include  <reg51.h>
+#include<reg51.h>
 
-//---�ض���ؼ���---//
+//---重定义关键词---//
 #ifndef uchar
 #define uchar unsigned char
 #endif
@@ -21,33 +21,23 @@
 #endif
 
 /**********************************
-PIN�ڶ���
+PIN口定义
 **********************************/
-//#define LCD1602_DB  P0      //data bus ��������
-//sbit LCD1602_RS = P2^6;
-//sbit LCD1602_RW = P2^5;
-//sbit LCD1602_EN = P2^7;	 
-
-
-#define  LCD1602_DB P2  //data bus ��������
-
-sbit LCD1602_RS=P0^7;
-sbit LCD1602_RW=P0^6;
-sbit LCD1602_EN=P0^5;
+#define LCD1602_DATAPINS P2
+sbit LCD1602_E=P1^4;
+sbit LCD1602_RW=P1^5;
+sbit LCD1602_RS=P1^6;
 
 /**********************************
-��������
+函数声明
 **********************************/
-/*��51��Ƭ��12MHZʱ���µ���ʱ����*/
-void Lcd1602_Delay1ms(uint c);   //��� 0us
-
-void Read_Busy();           //æ��⺯�����ж�bit7��0������ִ�У�1��ֹ
-void Lcd1602_Write_Cmd(unsigned char cmd);     //���
-void Lcd1602_Write_Data(unsigned char dat);   //���
-void LcdSetCursor(unsigned char x,unsigned char y);  //������ʾ
-void LcdShowStr(unsigned char x,unsigned char y,unsigned char *str);     //��ʾ�ַ���
-void InitLcd1602();              //1602��ʼ��
-void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData);
-					  
+/*在51单片机12MHZ时钟下的延时函数*/
+void Lcd1602_Delay1ms(uint c);   //误差 0us
+/*LCD1602写入8位命令子函数*/
+void LcdWriteCom(uchar com);
+/*LCD1602写入8位数据子函数*/	
+void LcdWriteData(uchar dat)	;
+/*LCD1602初始化子程序*/		
+void LcdInit();						  
 
 #endif
diff --git a/main.LST b/main.LST
index e728d25..aa70b01 100644
--- a/main.LST
+++ b/main.LST
@@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   MAIN                                                              04/08/2022 03:21:37 PAGE 1   
+C51 COMPILER V9.56.0.0   MAIN                                                              04/09/2022 18:14:52 PAGE 1   
 
 
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE MAIN
@@ -26,220 +26,206 @@ line level    source
   17          extern uint mileage;
   18          extern uint speed;
   19          
-  20          uint model = 0;
+  20          uint Seep_model = 0;
   21          
   22          extern unsigned char pwm_value;
   23          
-  24          
-  25          struct UserInfo{
-  26            int height;
-  27            int weight;
-  28            int target_mileage;
-  29            int target_speed;
-  30          };
-  31          
-  32          uchar set = 0;
+  24          uchar play  = 0;
+  25          
+  26          // model 
+  27          uchar model = 0;
+  28          
+  29          struct UserInfo usr;
+  30          
+  31          uchar Receive;   
+  32          uchar Recive_table[40];              
   33          
-  34          struct UserInfo usr;
+  34          bit accept = 0;
   35          
-  36          /*****************��ر���**************/
-  37          
-  38          uchar Receive;   
-  39          uchar Recive_table[40];                  //���ڽ���wifiģ�鷴����MCU�ϵ�����
-  40          
-  41          bit accept = 0;
-  42          
-  43          void delayms(unsigned int ms)
-  44          {
-  45   1        unsigned char i=100,j;
-  46   1        for(;ms;ms--)
-  47   1        {
-  48   2          while(--i)
-  49   2          {
-  50   3            j=10;
-  51   3            while(--j);
-  52   3          }
-  53   2        }
-  54   1      }
-  55          
-C51 COMPILER V9.56.0.0   MAIN                                                              04/08/2022 03:21:37 PAGE 2   
+  36          void delayms(unsigned int ms)
+  37          {
+  38   1        unsigned char i=100,j;
+  39   1        for(;ms;ms--)
+  40   1        {
+  41   2          while(--i)
+  42   2          {
+  43   3            j=10;
+  44   3            while(--j);
+  45   3          }
+  46   2        }
+  47   1      }
+  48          
+  49          void Uart_Init()                                
+  50          { 
+  51   1        TMOD = 0x20 | 0x01;
+  52   1        SCON = 0x50;                                
+  53   1        TH1 = 0xFD;                                         
+  54   1        TL1 = TH1;
+  55   1        PCON = 0x00;
+C51 COMPILER V9.56.0.0   MAIN                                                              04/09/2022 18:14:52 PAGE 2   
 
-  56          void Uart_Init()                                
-  57          { 
-  58   1        TMOD = 0x20 | 0x01;
-  59   1        SCON = 0x50;                                
-  60   1        TH1 = 0xFD;                                         
-  61   1        TL1 = TH1;
-  62   1        PCON = 0x00;
-  63   1        EA = 1;                                                
-  64   1        ES = 1;                                           
-  65   1        TR1 = 1;                                        
-  66   1      }
-  67          
-  68          void us_delay(uchar t)
-  69          { 
-  70   1          while(t--);
-  71   1      } 
-  72          
-  73          void Send_Uart(uchar value)
-  74          { 
-  75   1        ES=0;                                                  
-  76   1        TI=0;                                            
-  77   1        SBUF=value;                               
-  78   1        while(TI==0);                                 
-  79   1        TI=0;                                             
-  80   1        ES=1;                                                 
-  81   1      } 
-  82          
-  83          void Bluetooth_Set(uchar *puf)                    
-  84          {   
-  85   1        while(*puf!='\0')                    
-  86   1        {  
-  87   2          Send_Uart(*puf);                  
-  88   2          us_delay(5);  
-  89   2          puf++;   
-  90   2        } 
-  91   1      }
-  92          
-  93          
-  94          void saveUserInfo(){
-  95   1        int target = 0;
-  96   1        target = usr.height >> 8;
-  97   1        At24c02Write(3, target);
-  98   1        delayms(2);
-  99   1        target = (usr.height) & 0x00ff;
- 100   1        At24c02Write(4, target);
- 101   1        delayms(2);
- 102   1        target = (usr.weight) >> 8;
- 103   1        At24c02Write(5, target);
- 104   1        delayms(2);
- 105   1        target = (usr.weight) & 0x00ff;
- 106   1        At24c02Write(6, target);
- 107   1        delayms(2);
- 108   1      }
- 109          
- 110          
- 111          void Bluetooth_Accept(){
- 112   1        int target1 = 0, target2 = 0, i = 0;
- 113   1        if(accept){
- 114   2          if(strstr(Recive_table, "inquire") != NULL){
- 115   3            memset(Recive_table, 0, sizeof(Recive_table));
- 116   3            sprintf(Recive_table, "speed:%d km/h mileage:%d m\r\n",speed, mileage);
- 117   3            Bluetooth_Set(Recive_table);
-C51 COMPILER V9.56.0.0   MAIN                                                              04/08/2022 03:21:37 PAGE 3   
+  56   1        EA = 1;                                                
+  57   1        ES = 1;                                           
+  58   1        TR1 = 1;                                        
+  59   1      }
+  60          
+  61          void us_delay(uchar t)
+  62          { 
+  63   1          while(t--);
+  64   1      } 
+  65          
+  66          void Send_Uart(uchar value)
+  67          { 
+  68   1        ES=0;                                                  
+  69   1        TI=0;                                            
+  70   1        SBUF=value;                               
+  71   1        while(TI==0);                                 
+  72   1        TI=0;                                             
+  73   1        ES=1;                                                 
+  74   1      } 
+  75          
+  76          void Bluetooth_Set(uchar *puf)                    
+  77          {   
+  78   1        while(*puf!='\0')                    
+  79   1        {  
+  80   2          Send_Uart(*puf);                  
+  81   2          us_delay(5);  
+  82   2          puf++;   
+  83   2        } 
+  84   1      }
+  85          
+  86          // 保存用户的数据
+  87          void saveUserInfo(){
+  88   1        int target = 0;
+  89   1        At24c02Write(3, usr.Seep_model);
+  90   1        delayms(2);
+  91   1        target = (usr.target_mileage) >> 8;
+  92   1        At24c02Write(5, target);
+  93   1        delayms(2);
+  94   1        target = (usr.target_mileage) & 0x00ff;
+  95   1        At24c02Write(6, target);
+  96   1        delayms(2);
+  97   1      }
+  98          
+  99          void Bluetooth_Accept(){
+ 100   1        int target1 = 0, target2 = 0, i = 0;
+ 101   1        if(accept){
+ 102   2          if(strstr(Recive_table, "inquire") != NULL){
+ 103   3            memset(Recive_table, 0, sizeof(Recive_table));
+ 104   3            sprintf(Recive_table, "speed:%d m/min mileage:%d m\r\n",speed, mileage);
+ 105   3            Bluetooth_Set(Recive_table);
+ 106   3          }else if(strstr(Recive_table, "model") != NULL){
+ 107   3            if(model == 0) model = 1;
+ 108   3            else model = 0;
+ 109   3            if(model == 0) Seep_model = 0;
+ 110   3            memset(Recive_table, 0, sizeof(Recive_table));
+ 111   3            sprintf(Recive_table, "Model SET OK\r\n");
+ 112   3            Bluetooth_Set(Recive_table);
+ 113   3            At24c02Write(4, model);
+ 114   3          }else if(strstr(Recive_table, "clear") != NULL){
+ 115   3            // 清空里程
+ 116   3            mileage = 0;
+ 117   3            Bluetooth_Set("reset mileage OK!\r\n");
+C51 COMPILER V9.56.0.0   MAIN                                                              04/09/2022 18:14:52 PAGE 3   
 
- 118   3          }else if(strstr(Recive_table, "set:") != NULL){
- 119   3            target1 = strstr(Recive_table, "(") - Recive_table;
- 120   3            target2 = strstr(Recive_table, ",") - Recive_table;
- 121   3            usr.height = 0;
- 122   3            for(i = target1 + 1; i < target2; i++){
- 123   4              usr.height = usr.height * 10 + (*(Recive_table + i) - 0x30);
- 124   4            }
- 125   3            Bluetooth_Set(Recive_table);
- 126   3            target1 = strstr(Recive_table, ",") - Recive_table;
- 127   3            target2 = strstr(Recive_table, ")") - Recive_table;
- 128   3            usr.weight = 0;
- 129   3            for(i = target1 + 1; i < target2; i++){
- 130   4              usr.weight = usr.weight * 10 + (*(Recive_table + i) - 0x30);
- 131   4            }
- 132   3            memset(Recive_table, 0, sizeof(Recive_table));
- 133   3            sprintf(Recive_table, "SET OK\r\n",usr.height, usr.weight);
- 134   3            Bluetooth_Set(Recive_table);
- 135   3            
- 136   3            // ����
- 137   3            usr.target_mileage = (usr.weight / usr.height) * (usr.weight / usr.height) / 22 * 3000;
- 138   3            usr.target_speed = 10 - (usr.weight / usr.height) * (usr.weight / usr.height) / 22 ;
- 139   3            saveUserInfo();
- 140   3          }
- 141   2          memset(Recive_table, 0, sizeof(Recive_table));
- 142   2          accept = 0;
- 143   2        }
- 144   1      }
- 145          
- 146          void ReadData(){
- 147   1        mileage = At24c02Read(1) * 255 + At24c02Read(2);
- 148   1        set = At24c02Read(7);
- 149   1        if(set){
- 150   2          usr.height = 0;
- 151   2          usr.weight = 0;
- 152   2          
- 153   2          At24c02Write(1, 0);
- 154   2          delayms(2);
- 155   2          At24c02Write(2, 0);
- 156   2          delayms(2);
- 157   2          
- 158   2          At24c02Write(3, 0);
- 159   2          delayms(2);
- 160   2          At24c02Write(4, 0);
- 161   2          delayms(2);
- 162   2          At24c02Write(5, 0);
- 163   2          delayms(2);
- 164   2          At24c02Write(6, 0);
- 165   2          
- 166   2        }else{
- 167   2          usr.height = At24c02Read(3) * 255 + At24c02Read(4);
- 168   2          usr.weight = At24c02Read(5) * 255 + At24c02Read(6);
- 169   2        }
- 170   1      }
- 171          
- 172          
- 173          
- 174          
- 175          
- 176          void WriteData(){
- 177   1        int target = mileage >> 8;
- 178   1        At24c02Write(1, target);
- 179   1        delayms(2);
-C51 COMPILER V9.56.0.0   MAIN                                                              04/08/2022 03:21:37 PAGE 4   
+ 118   3          }
+ 119   2          else if(strstr(Recive_table, "speed") != NULL){
+ 120   3            Seep_model++;
+ 121   3            if(Seep_model >= 4) Seep_model = 0;
+ 122   3            usr.Seep_model = Seep_model;
+ 123   3          }
+ 124   2          else if(strstr(Recive_table, "set:") != NULL){
+ 125   3            target1 = strstr(Recive_table, "(") - Recive_table;
+ 126   3            target2 = strstr(Recive_table, ",") - Recive_table;
+ 127   3            usr.Seep_model = 0;
+ 128   3            for(i = target1 + 1; i < target2; i++){
+ 129   4              usr.Seep_model = usr.Seep_model * 10 + (*(Recive_table + i) - 0x30);
+ 130   4            }
+ 131   3            if(usr.Seep_model > 1) usr.Seep_model = 1;
+ 132   3            target1 = strstr(Recive_table, ",") - Recive_table;
+ 133   3            target2 = strstr(Recive_table, ")") - Recive_table;
+ 134   3            usr.target_mileage = 0;
+ 135   3            for(i = target1 + 1; i < target2; i++){
+ 136   4              usr.target_mileage = usr.target_mileage * 10 + (*(Recive_table + i) - 0x30);
+ 137   4            }
+ 138   3      
+ 139   3            if(usr.Seep_model > 9999) usr.Seep_model = 9999;
+ 140   3            Bluetooth_Set("User SET OK!\r\n");
+ 141   3            saveUserInfo();
+ 142   3          }
+ 143   2          memset(Recive_table, 0, sizeof(Recive_table));
+ 144   2          accept = 0;
+ 145   2        }
+ 146   1      }
+ 147          
+ 148          // 读取数据
+ 149          void ReadData(){
+ 150   1        // 里程
+ 151   1        mileage = At24c02Read(1) * 255 + At24c02Read(2);
+ 152   1        
+ 153   1        // 用户的模式
+ 154   1        usr.Seep_model = At24c02Read(3);
+ 155   1      
+ 156   1        model = At24c02Read(4);
+ 157   1        // 用户的目标里程
+ 158   1        usr.target_mileage = At24c02Read(5) * 255 + At24c02Read(6);
+ 159   1      }
+ 160          
+ 161          // 写入数据
+ 162          void WriteData(){
+ 163   1        int target = mileage >> 8;
+ 164   1        At24c02Write(1, target);
+ 165   1        us_delay(200);
+ 166   1        target = mileage & 0x00ff;
+ 167   1        At24c02Write(2, target);
+ 168   1        us_delay(200);
+ 169   1      }
+ 170          
+ 171          // main 函数
+ 172          void main(void)
+ 173          {
+ 174   1        LcdInit();
+ 175   1        IRIN_Init();
+ 176   1        Uart_Init(); 
+ 177   1        ReadData();
+ 178   1        while(1)
+ 179   1        {
+C51 COMPILER V9.56.0.0   MAIN                                                              04/09/2022 18:14:52 PAGE 4   
 
- 180   1        target = mileage & 0x00ff;
- 181   1        At24c02Write(2, target);
- 182   1        delayms(2);
- 183   1      }
- 184          
- 185          void main(void)
- 186          {
- 187   1        InitLcd1602();
- 188   1        IRIN_Init();
- 189   1        Uart_Init(); 
- 190   1        ReadData();
- 191   1        while(1)
- 192   1        {
- 193   2          run();
- 194   2          display();
- 195   2          Key_scan();
-*** WARNING C206 IN LINE 195 OF main.c: 'Key_scan': missing function-prototype
- 196   2          Bluetooth_Accept();
- 197   2          WriteData();
- 198   2        } 
- 199   1      }
- 200          
- 201          void Uart_Interrupt() interrupt 4        
- 202          {   
- 203   1        static uchar i=0;
- 204   1        if( accept) return;
- 205   1        if(RI==1) {  
- 206   2          RI=0;  
- 207   2          Receive=SBUF;                                                        //MCU����wifiģ�鷴������������    
-             -  
- 208   2          Recive_table[i]=Receive;  
- 209   2          if((Recive_table[i]=='\r')){                    
- 210   3            i=0;
- 211   3            accept = 1;
- 212   3          }   
- 213   2          else i++;                                                                                  //�������� ��
-             -��װֵ 
- 214   2        }  
- 215   1        else TI=0;  
- 216   1      }
+ 180   2          run();
+ 181   2          display();
+ 182   2          Key_scan();
+*** WARNING C206 IN LINE 182 OF main.c: 'Key_scan': missing function-prototype
+ 183   2          Bluetooth_Accept();
+ 184   2          WriteData();
+ 185   2        } 
+ 186   1      }
+ 187          
+ 188          // 串口中断
+ 189          void Uart_Interrupt() interrupt 4        
+ 190          {   
+ 191   1        static uchar i=0;
+ 192   1        if(accept) return;
+ 193   1        if(RI==1) {  
+ 194   2          RI=0;  
+ 195   2          Receive=SBUF;                                                         
+ 196   2          Recive_table[i]=Receive;  
+ 197   2          if((Recive_table[i]=='\r')){                    
+ 198   3            i=0;
+ 199   3            accept = 1;
+ 200   3          }   
+ 201   2          else i++;                                                                                 
+ 202   2        }  
+ 203   1        else TI=0;  
+ 204   1      }
 
 
 MODULE INFORMATION:   STATIC OVERLAYABLE
-   CODE SIZE        =   1000    ----
-   CONSTANT SIZE    =     57    ----
+   CODE SIZE        =   1004    ----
+   CONSTANT SIZE    =    117    ----
    XDATA SIZE       =   ----    ----
    PDATA SIZE       =   ----    ----
-   DATA SIZE        =     53       6
+   DATA SIZE        =     52       6
    IDATA SIZE       =   ----    ----
    BIT SIZE         =      1    ----
 END OF MODULE INFORMATION.
diff --git a/main.OBJ b/main.OBJ
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diff --git a/main.c b/main.c
index 08863f2..1c0e91f 100644
--- a/main.c
+++ b/main.c
@@ -17,26 +17,19 @@ typedef unsigned int uint16;
 extern uint mileage;
 extern uint speed;
 
-uint model = 0;
+uint Seep_model = 0;
 
 extern unsigned char pwm_value;
 
+uchar play  = 0;
 
-struct UserInfo{
-	int height;
-	int weight;
-	int target_mileage;
-	int target_speed;
-};
-
-uchar set = 0;
+// model 
+uchar model = 0;
 
 struct UserInfo usr;
 
-/*****************��ر���**************/
-
 uchar Receive;   
-uchar Recive_table[40];                  //���ڽ���wifiģ�鷴����MCU�ϵ�����
+uchar Recive_table[40];              
 
 bit accept = 0;
 
@@ -90,52 +83,61 @@ void Bluetooth_Set(uchar *puf)
 	} 
 }
 
-
+// 保存用户的数据
 void saveUserInfo(){
 	int target = 0;
-	target = usr.height >> 8;
-	At24c02Write(3, target);
+	At24c02Write(3, usr.Seep_model);
 	delayms(2);
-	target = (usr.height) & 0x00ff;
-	At24c02Write(4, target);
-	delayms(2);
-	target = (usr.weight) >> 8;
+	target = (usr.target_mileage) >> 8;
 	At24c02Write(5, target);
 	delayms(2);
-	target = (usr.weight) & 0x00ff;
+	target = (usr.target_mileage) & 0x00ff;
 	At24c02Write(6, target);
 	delayms(2);
 }
 
-
 void Bluetooth_Accept(){
 	int target1 = 0, target2 = 0, i = 0;
 	if(accept){
 		if(strstr(Recive_table, "inquire") != NULL){
 			memset(Recive_table, 0, sizeof(Recive_table));
-			sprintf(Recive_table, "speed:%d km/h mileage:%d m\r\n",speed, mileage);
+			sprintf(Recive_table, "speed:%d m/min mileage:%d m\r\n",speed, mileage);
 			Bluetooth_Set(Recive_table);
-		}else if(strstr(Recive_table, "set:") != NULL){
+		}else if(strstr(Recive_table, "model") != NULL){
+			if(model == 0) model = 1;
+			else model = 0;
+			if(model == 0) Seep_model = 0;
+			memset(Recive_table, 0, sizeof(Recive_table));
+			sprintf(Recive_table, "Model SET OK\r\n");
+			Bluetooth_Set(Recive_table);
+			At24c02Write(4, model);
+		}else if(strstr(Recive_table, "clear") != NULL){
+			// 清空里程
+			mileage = 0;
+			Bluetooth_Set("reset mileage OK!\r\n");
+		}
+		else if(strstr(Recive_table, "speed") != NULL){
+			Seep_model++;
+			if(Seep_model >= 4) Seep_model = 0;
+			usr.Seep_model = Seep_model;
+		}
+		else if(strstr(Recive_table, "set:") != NULL){
 			target1 = strstr(Recive_table, "(") - Recive_table;
 			target2 = strstr(Recive_table, ",") - Recive_table;
-			usr.height = 0;
+			usr.Seep_model = 0;
 			for(i = target1 + 1; i < target2; i++){
-				usr.height = usr.height * 10 + (*(Recive_table + i) - 0x30);
+				usr.Seep_model = usr.Seep_model * 10 + (*(Recive_table + i) - 0x30);
 			}
-			Bluetooth_Set(Recive_table);
+			if(usr.Seep_model > 1) usr.Seep_model = 1;
 			target1 = strstr(Recive_table, ",") - Recive_table;
 			target2 = strstr(Recive_table, ")") - Recive_table;
-			usr.weight = 0;
+			usr.target_mileage = 0;
 			for(i = target1 + 1; i < target2; i++){
-				usr.weight = usr.weight * 10 + (*(Recive_table + i) - 0x30);
+				usr.target_mileage = usr.target_mileage * 10 + (*(Recive_table + i) - 0x30);
 			}
-			memset(Recive_table, 0, sizeof(Recive_table));
-			sprintf(Recive_table, "SET OK\r\n",usr.height, usr.weight);
-			Bluetooth_Set(Recive_table);
-			
-			// ����
-			usr.target_mileage = (usr.weight / usr.height) * (usr.weight / usr.height) / 22 * 3000;
-			usr.target_speed = 10 - (usr.weight / usr.height) * (usr.weight / usr.height) / 22 ;
+
+			if(usr.Seep_model > 9999) usr.Seep_model = 9999;
+			Bluetooth_Set("User SET OK!\r\n");
 			saveUserInfo();
 		}
 		memset(Recive_table, 0, sizeof(Recive_table));
@@ -143,48 +145,33 @@ void Bluetooth_Accept(){
 	}
 }
 
+// 读取数据
 void ReadData(){
+	// 里程
 	mileage = At24c02Read(1) * 255 + At24c02Read(2);
-	set = At24c02Read(7);
-	if(set){
-		usr.height = 0;
-		usr.weight = 0;
-		
-		At24c02Write(1, 0);
-		delayms(2);
-		At24c02Write(2, 0);
-		delayms(2);
-		
-		At24c02Write(3, 0);
-		delayms(2);
-		At24c02Write(4, 0);
-		delayms(2);
-		At24c02Write(5, 0);
-		delayms(2);
-		At24c02Write(6, 0);
-		
-	}else{
-		usr.height = At24c02Read(3) * 255 + At24c02Read(4);
-		usr.weight = At24c02Read(5) * 255 + At24c02Read(6);
-	}
-}
-
-
-
+	
+	// 用户的模式
+	usr.Seep_model = At24c02Read(3);
 
+	model = At24c02Read(4);
+	// 用户的目标里程
+	usr.target_mileage = At24c02Read(5) * 255 + At24c02Read(6);
+}
 
+// 写入数据
 void WriteData(){
 	int target = mileage >> 8;
 	At24c02Write(1, target);
-	delayms(2);
+	us_delay(200);
 	target = mileage & 0x00ff;
 	At24c02Write(2, target);
-	delayms(2);
+	us_delay(200);
 }
 
+// main 函数
 void main(void)
 {
-	InitLcd1602();
+	LcdInit();
 	IRIN_Init();
 	Uart_Init(); 
 	ReadData();
@@ -198,19 +185,20 @@ void main(void)
 	}	
 }
 
+// 串口中断
 void Uart_Interrupt() interrupt 4        
 {   
 	static uchar i=0;
-	if( accept) return;
+	if(accept) return;
 	if(RI==1) {  
 		RI=0;  
-		Receive=SBUF;                                                        //MCU����wifiģ�鷴������������      
+		Receive=SBUF;                                                         
 		Recive_table[i]=Receive;  
 		if((Recive_table[i]=='\r')){                    
 			i=0;
 			accept = 1;
 		}   
-		else i++;                                                                                  //�������� ����װֵ 
+		else i++;                                                                                 
 	}  
 	else TI=0;  
 }
\ No newline at end of file
diff --git a/pro b/pro
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diff --git a/pro.M51 b/pro.M51
index e85444d..5b7ca79 100644
--- a/pro.M51
+++ b/pro.M51
@@ -1,11 +1,11 @@
-BL51 BANKED LINKER/LOCATER V6.22                                                        04/08/2022  03:21:38  PAGE 1
+BL51 BANKED LINKER/LOCATER V6.22                                                        04/09/2022  18:14:52  PAGE 1
 
 
 BL51 BANKED LINKER/LOCATER V6.22, INVOKED BY:
 D:\KEIL_V5\C51\BIN\BL51.EXE main.obj, lcd.obj, pwm.obj, i2c.obj, IRIN.obj TO pro DISABLEWARNING (15, 16)
 
 
-MEMORY MODEL: SMALL WITH FLOATING POINT ARITHMETIC
+MEMORY MODEL: SMALL
 
 
 INPUT MODULES INCLUDED:
@@ -14,30 +14,20 @@ INPUT MODULES INCLUDED:
   pwm.obj (PWM)
   i2c.obj (I2C)
   IRIN.obj (IRIN)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FPADD)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FPMUL)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FPDIV)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FCAST)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?CASTF)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (PRINTF)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FPGETOPN)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FPROUND)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FPCONVERT)
-  D:\KEIL_V5\C51\LIB\C51FPS.LIB (?C?FTNPWR)
   D:\KEIL_V5\C51\LIB\C51S.LIB (?C_STARTUP)
   D:\KEIL_V5\C51\LIB\C51S.LIB (?C?CLDPTR)
-  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?CLDOPTR)
-  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?CSTPTR)
   D:\KEIL_V5\C51\LIB\C51S.LIB (?C?IMUL)
   D:\KEIL_V5\C51\LIB\C51S.LIB (?C?UIDIV)
   D:\KEIL_V5\C51\LIB\C51S.LIB (?C?SIDIV)
-  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?LNEG)
-  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?PLDIIDATA)
-  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?CCASE)
-  D:\KEIL_V5\C51\LIB\C51S.LIB (PUTCHAR)
+  D:\KEIL_V5\C51\LIB\C51S.LIB (PRINTF)
   D:\KEIL_V5\C51\LIB\C51S.LIB (STRSTR)
   D:\KEIL_V5\C51\LIB\C51S.LIB (?C?MEMSET)
   D:\KEIL_V5\C51\LIB\C51S.LIB (?C_INIT)
+  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?CLDOPTR)
+  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?CSTPTR)
+  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?PLDIIDATA)
+  D:\KEIL_V5\C51\LIB\C51S.LIB (?C?CCASE)
+  D:\KEIL_V5\C51\LIB\C51S.LIB (PUTCHAR)
 
 
 LINK MAP OF MODULE:  pro (MAIN)
@@ -55,12 +45,9 @@ LINK MAP OF MODULE:  pro (MAIN)
             BIT     0021H.1   0000H.1   UNIT         ?BI?MAIN
             BIT     0021H.2   0000H.1   UNIT         ?BI?PWM
                     0021H.3   0000H.5                *** GAP ***
-            DATA    0022H     0035H     UNIT         ?DT?MAIN
-            DATA    0057H     0022H     UNIT         _DATA_GROUP_
-            IDATA   0079H     0001H     UNIT         ?STACK
-
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 2
-
+            DATA    0022H     0034H     UNIT         ?DT?MAIN
+            DATA    0056H     001AH     UNIT         _DATA_GROUP_
+            IDATA   0070H     0001H     UNIT         ?STACK
 
             * * * * * * *   C O D E   M E M O R Y   * * * * * * *
             CODE    0000H     0003H     ABSOLUTE     
@@ -71,71 +58,70 @@ LINK MAP OF MODULE:  pro (MAIN)
             CODE    0013H     0003H     ABSOLUTE     
             CODE    0016H     000DH     UNIT         ?PR?INT1?IRIN
             CODE    0023H     0003H     ABSOLUTE     
-            CODE    0026H     0664H     UNIT         ?C?LIB_CODE
-            CODE    068AH     046FH     UNIT         ?PR?PRINTF?PRINTF
-            CODE    0AF9H     0215H     UNIT         ?PR?BLUETOOTH_ACCEPT?MAIN
-            CODE    0D0EH     010EH     UNIT         ?PR?TIME0?IRIN
-            CODE    0E1CH     00FBH     UNIT         ?PR?DISPLAY?IRIN
-            CODE    0F17H     00B6H     UNIT         ?PR?READDATA?MAIN
-            CODE    0FCDH     008CH     UNIT         ?C_C51STARTUP
-            CODE    1059H     0082H     UNIT         ?PR?_STRSTR?STRSTR
-            CODE    10DBH     0042H     UNIT         ?PR?SAVEUSERINFO?MAIN
-            CODE    111DH     0041H     UNIT         ?PR?_I2CSENDBYTE?I2C
-            CODE    115EH     003AH     UNIT         ?PR?KEY_SCAN?IRIN
-            CODE    1198H     0039H     UNIT         ?CO?MAIN
-            CODE    11D1H     0038H     UNIT         ?PR?UART_INTERRUPT?MAIN
-            CODE    1209H     002FH     UNIT         ?C_INITSEG
-            CODE    1238H     002FH     UNIT         ?PR?RUN?PWM
-            CODE    1267H     0028H     UNIT         ?PR?_LCDSHOWSTR?LCD
-            CODE    128FH     0027H     UNIT         ?PR?PUTCHAR?PUTCHAR
-            CODE    12B6H     0026H     UNIT         ?PR?I2CREADBYTE?I2C
-            CODE    12DCH     0022H     UNIT         ?PR?_AT24C02READ?I2C
-            CODE    12FEH     0021H     UNIT         ?PR?PWM_OUT_RIGHT_MOTO?PWM
-            CODE    131FH     0020H     UNIT         ?PR?_DELAY?PWM
-            CODE    133FH     001FH     UNIT         ?PR?WRITEDATA?MAIN
-            CODE    135EH     001EH     UNIT         ?PR?_DELAYMS?MAIN
-            CODE    137CH     001EH     UNIT         ?PR?_BLUETOOTH_SET?MAIN
-            CODE    139AH     001DH     UNIT         ?PR?MAIN?MAIN
-            CODE    13B7H     001DH     UNIT         ?PR?_DISPLAYONECHAR?LCD
-            CODE    13D4H     001AH     UNIT         ?CO?IRIN
-            CODE    13EEH     0019H     UNIT         ?PR?_AT24C02WRITE?I2C
-            CODE    1407H     0016H     UNIT         ?PR?UART_INIT?MAIN
-            CODE    141DH     0014H     UNIT         ?PR?INITLCD1602?LCD
-            CODE    1431H     0014H     UNIT         ?PR?IRIN_INIT?IRIN
-            CODE    1445H     0012H     UNIT         ?PR?READ_BUSY?LCD
-            CODE    1457H     0012H     UNIT         ?PR?_LCDSETCURSOR?LCD
-            CODE    1469H     0010H     UNIT         ?PR?_LCD1602_WRITE_CMD?LCD
-            CODE    1479H     0010H     UNIT         ?PR?_LCD1602_WRITE_DATA?LCD
-            CODE    1489H     000FH     UNIT         ?PR?I2CSTART?I2C
-            CODE    1498H     000EH     UNIT         ?PR?_SEND_UART?MAIN
-            CODE    14A6H     000EH     UNIT         ?PR?DELAY10US?I2C
-            CODE    14B4H     000BH     UNIT         ?PR?_DELAY11?IRIN
-            CODE    14BFH     000AH     UNIT         ?PR?I2CSTOP?I2C
+            CODE    0026H     035CH     UNIT         ?PR?PRINTF?PRINTF
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 2
+
+
+            CODE    0382H     028CH     UNIT         ?PR?BLUETOOTH_ACCEPT?MAIN
+            CODE    060EH     01C5H     UNIT         ?PR?DISPLAY?IRIN
+            CODE    07D3H     0157H     UNIT         ?C?LIB_CODE
+            CODE    092AH     00B0H     UNIT         ?PR?TIME0?IRIN
+            CODE    09DAH     008CH     UNIT         ?C_C51STARTUP
+            CODE    0A66H     0082H     UNIT         ?PR?_STRSTR?STRSTR
+            CODE    0AE8H     0075H     UNIT         ?CO?MAIN
+            CODE    0B5DH     0063H     UNIT         ?PR?RUN?PWM
+            CODE    0BC0H     0058H     UNIT         ?PR?READDATA?MAIN
+            CODE    0C18H     0041H     UNIT         ?PR?_I2CSENDBYTE?I2C
+            CODE    0C59H     0038H     UNIT         ?PR?UART_INTERRUPT?MAIN
+            CODE    0C91H     0037H     UNIT         ?PR?SAVEUSERINFO?MAIN
+            CODE    0CC8H     0032H     UNIT         ?C_INITSEG
+            CODE    0CFAH     002AH     UNIT         ?PR?_LCD1602_DELAY1MS?LCD
+            CODE    0D24H     0027H     UNIT         ?PR?KEY_SCAN?IRIN
+            CODE    0D4BH     0027H     UNIT         ?PR?PUTCHAR?PUTCHAR
+            CODE    0D72H     0026H     UNIT         ?PR?I2CREADBYTE?I2C
+            CODE    0D98H     0022H     UNIT         ?PR?_AT24C02READ?I2C
+            CODE    0DBAH     0021H     UNIT         ?PR?PWM_OUT_RIGHT_MOTO?PWM
+            CODE    0DDBH     0020H     UNIT         ?PR?_DELAY?PWM
+            CODE    0DFBH     001FH     UNIT         ?PR?WRITEDATA?MAIN
+            CODE    0E1AH     001DH     UNIT         ?PR?MAIN?MAIN
+            CODE    0E37H     001AH     UNIT         ?PR?_DELAYMS?MAIN
+            CODE    0E51H     0019H     UNIT         ?PR?LCDINIT?LCD
+            CODE    0E6AH     0019H     UNIT         ?PR?_AT24C02WRITE?I2C
+            CODE    0E83H     0018H     UNIT         ?PR?_BLUETOOTH_SET?MAIN
+            CODE    0E9BH     0016H     UNIT         ?PR?UART_INIT?MAIN
+            CODE    0EB1H     0014H     UNIT         ?PR?IRIN_INIT?IRIN
+            CODE    0EC5H     000FH     UNIT         ?PR?I2CSTART?I2C
+            CODE    0ED4H     000EH     UNIT         ?PR?_SEND_UART?MAIN
+            CODE    0EE2H     000EH     UNIT         ?PR?DELAY10US?I2C
+            CODE    0EF0H     000BH     UNIT         ?PR?_DELAY11?IRIN
+            CODE    0EFBH     000AH     UNIT         ?PR?_LCDWRITECOM?LCD
+            CODE    0F05H     000AH     UNIT         ?PR?_LCDWRITEDATA?LCD
+            CODE    0F0FH     000AH     UNIT         ?PR?I2CSTOP?I2C
 
 
 
 OVERLAY MAP OF MODULE:   pro (MAIN)
 
 
-SEGMENT                                BIT_GROUP          DATA_GROUP 
-  +--> CALLED SEGMENT               START    LENGTH     START    LENGTH
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 3
-
-
------------------------------------------------------------------------
-?PR?TIME0?IRIN                      -----    -----      -----    -----
+SEGMENT                               BIT_GROUP          DATA_GROUP 
+  +--> CALLED SEGMENT              START    LENGTH     START    LENGTH
+----------------------------------------------------------------------
+?PR?TIME0?IRIN                     -----    -----      -----    -----
   +--> ?PR?PWM_OUT_RIGHT_MOTO?PWM
 
 *** NEW ROOT ***************************************************
 
-?C_C51STARTUP                       -----    -----      -----    -----
+?C_C51STARTUP                      -----    -----      -----    -----
   +--> ?PR?MAIN?MAIN
   +--> ?C_INITSEG
 
-?PR?MAIN?MAIN                       -----    -----      -----    -----
-  +--> ?PR?INITLCD1602?LCD
+?PR?MAIN?MAIN                      -----    -----      -----    -----
+  +--> ?PR?LCDINIT?LCD
   +--> ?PR?IRIN_INIT?IRIN
   +--> ?PR?UART_INIT?MAIN
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 3
+
+
   +--> ?PR?READDATA?MAIN
   +--> ?PR?RUN?PWM
   +--> ?PR?DISPLAY?IRIN
@@ -143,85 +129,75 @@ SEGMENT                                BIT_GROUP          DATA_GROUP
   +--> ?PR?BLUETOOTH_ACCEPT?MAIN
   +--> ?PR?WRITEDATA?MAIN
 
-?PR?INITLCD1602?LCD                 -----    -----      -----    -----
-  +--> ?PR?_LCD1602_WRITE_CMD?LCD
+?PR?LCDINIT?LCD                    -----    -----      -----    -----
+  +--> ?PR?_LCDWRITECOM?LCD
 
-?PR?_LCD1602_WRITE_CMD?LCD          -----    -----      -----    -----
-  +--> ?PR?READ_BUSY?LCD
+?PR?_LCDWRITECOM?LCD               -----    -----      -----    -----
+  +--> ?PR?_LCD1602_DELAY1MS?LCD
 
-?PR?READDATA?MAIN                   -----    -----      -----    -----
+?PR?READDATA?MAIN                  -----    -----      -----    -----
   +--> ?PR?_AT24C02READ?I2C
-  +--> ?PR?_AT24C02WRITE?I2C
-  +--> ?PR?_DELAYMS?MAIN
 
-?PR?_AT24C02READ?I2C                -----    -----      -----    -----
+?PR?_AT24C02READ?I2C               -----    -----      -----    -----
   +--> ?PR?I2CSTART?I2C
   +--> ?PR?_I2CSENDBYTE?I2C
   +--> ?PR?I2CREADBYTE?I2C
   +--> ?PR?I2CSTOP?I2C
 
-?PR?I2CSTART?I2C                    -----    -----      -----    -----
+?PR?I2CSTART?I2C                   -----    -----      -----    -----
   +--> ?PR?DELAY10US?I2C
 
-?PR?_I2CSENDBYTE?I2C                -----    -----      -----    -----
+?PR?_I2CSENDBYTE?I2C               -----    -----      -----    -----
   +--> ?PR?DELAY10US?I2C
 
-?PR?I2CREADBYTE?I2C                 -----    -----      -----    -----
+?PR?I2CREADBYTE?I2C                -----    -----      -----    -----
   +--> ?PR?DELAY10US?I2C
 
-?PR?I2CSTOP?I2C                     -----    -----      -----    -----
+?PR?I2CSTOP?I2C                    -----    -----      -----    -----
   +--> ?PR?DELAY10US?I2C
 
-?PR?_AT24C02WRITE?I2C               -----    -----      -----    -----
-  +--> ?PR?I2CSTART?I2C
-  +--> ?PR?_I2CSENDBYTE?I2C
-  +--> ?PR?I2CSTOP?I2C
-
-?PR?DISPLAY?IRIN                    -----    -----      -----    -----
-  +--> ?PR?_LCDSETCURSOR?LCD
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 4
-
+?PR?DISPLAY?IRIN                   -----    -----      -----    -----
+  +--> ?PR?_LCDWRITECOM?LCD
+  +--> ?PR?_LCDWRITEDATA?LCD
 
-  +--> ?CO?IRIN
-  +--> ?PR?_LCDSHOWSTR?LCD
-  +--> ?PR?_LCD1602_WRITE_DATA?LCD
+?PR?_LCDWRITEDATA?LCD              -----    -----      -----    -----
+  +--> ?PR?_LCD1602_DELAY1MS?LCD
 
-?PR?_LCDSETCURSOR?LCD               -----    -----      -----    -----
-  +--> ?PR?_LCD1602_WRITE_CMD?LCD
-
-?PR?_LCDSHOWSTR?LCD                 -----    -----      0057H    0003H
-  +--> ?PR?_LCDSETCURSOR?LCD
-  +--> ?PR?_LCD1602_WRITE_DATA?LCD
-
-?PR?_LCD1602_WRITE_DATA?LCD         -----    -----      -----    -----
-  +--> ?PR?READ_BUSY?LCD
-
-?PR?KEY_SCAN?IRIN                   -----    -----      -----    -----
+?PR?KEY_SCAN?IRIN                  -----    -----      -----    -----
   +--> ?PR?_DELAY11?IRIN
 
-?PR?BLUETOOTH_ACCEPT?MAIN           -----    -----      0057H    0006H
+?PR?BLUETOOTH_ACCEPT?MAIN          -----    -----      0056H    0006H
   +--> ?CO?MAIN
   +--> ?PR?_STRSTR?STRSTR
   +--> ?PR?PRINTF?PRINTF
   +--> ?PR?_BLUETOOTH_SET?MAIN
+  +--> ?PR?_AT24C02WRITE?I2C
   +--> ?PR?SAVEUSERINFO?MAIN
 
-?PR?_STRSTR?STRSTR                  -----    -----      005DH    000CH
+?PR?_STRSTR?STRSTR                 -----    -----      005CH    000CH
 
-?PR?PRINTF?PRINTF                   0020H.0  0001H.1    005DH    001CH
+?PR?PRINTF?PRINTF                  0020H.0  0001H.1    005CH    0014H
   +--> ?PR?PUTCHAR?PUTCHAR
 
-?PR?_BLUETOOTH_SET?MAIN             -----    -----      -----    -----
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 4
+
+
+?PR?_BLUETOOTH_SET?MAIN            -----    -----      -----    -----
   +--> ?PR?_SEND_UART?MAIN
   +--> ?PR?_US_DELAY?MAIN
 
-?PR?SAVEUSERINFO?MAIN               -----    -----      -----    -----
+?PR?_AT24C02WRITE?I2C              -----    -----      -----    -----
+  +--> ?PR?I2CSTART?I2C
+  +--> ?PR?_I2CSENDBYTE?I2C
+  +--> ?PR?I2CSTOP?I2C
+
+?PR?SAVEUSERINFO?MAIN              -----    -----      -----    -----
   +--> ?PR?_AT24C02WRITE?I2C
   +--> ?PR?_DELAYMS?MAIN
 
-?PR?WRITEDATA?MAIN                  -----    -----      -----    -----
+?PR?WRITEDATA?MAIN                 -----    -----      -----    -----
   +--> ?PR?_AT24C02WRITE?I2C
-  +--> ?PR?_DELAYMS?MAIN
+  +--> ?PR?_US_DELAY?MAIN
 
 
 
@@ -232,376 +208,321 @@ SYMBOL TABLE OF MODULE:  pro (MAIN)
 
   -------         MODULE        MAIN
   C:0000H         SYMBOL        _ICE_DUMMY_
-  D:0080H         PUBLIC        P0
   D:0090H         PUBLIC        P1
   D:00B0H         PUBLIC        P3
+  D:0023H         PUBLIC        Seep_model
   B:00A8H.7       PUBLIC        EA
-  C:133FH         PUBLIC        WriteData
-  C:1498H         PUBLIC        _Send_Uart
-  D:0023H         PUBLIC        model
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 5
-
-
-  C:1407H         PUBLIC        Uart_Init
+  C:0DFBH         PUBLIC        WriteData
+  C:0ED4H         PUBLIC        _Send_Uart
+  D:0025H         PUBLIC        model
+  C:0E9BH         PUBLIC        Uart_Init
   B:00A8H.4       PUBLIC        ES
   B:0098H.0       PUBLIC        RI
   B:0098H.1       PUBLIC        TI
-  C:139AH         PUBLIC        main
+  C:0E1AH         PUBLIC        main
   D:0099H         PUBLIC        SBUF
   D:0087H         PUBLIC        PCON
   D:0098H         PUBLIC        SCON
   D:0089H         PUBLIC        TMOD
-  D:0025H         PUBLIC        Receive
-  C:1382H         PUBLIC        _Bluetooth_Set
-  D:0026H         PUBLIC        Recive_table
-  D:004EH         PUBLIC        set
+  D:0026H         PUBLIC        play
+  D:0027H         PUBLIC        Receive
+  C:0E83H         PUBLIC        _Bluetooth_Set
+  D:0028H         PUBLIC        Recive_table
   D:008DH         PUBLIC        TH1
   D:008BH         PUBLIC        TL1
-  C:11D1H         PUBLIC        Uart_Interrupt
+  C:0C59H         PUBLIC        Uart_Interrupt
   B:0088H.6       PUBLIC        TR1
   C:0003H         PUBLIC        _us_delay
-  D:004FH         PUBLIC        usr
-  C:10DBH         PUBLIC        saveUserInfo
-  C:0AF9H         PUBLIC        Bluetooth_Accept
-  C:1362H         PUBLIC        _delayms
+  D:0050H         PUBLIC        usr
+  C:0C91H         PUBLIC        saveUserInfo
+  C:0382H         PUBLIC        Bluetooth_Accept
+  C:0E37H         PUBLIC        _delayms
   B:0021H.1       PUBLIC        accept
-  C:0F17H         PUBLIC        ReadData
-  C:135EH         SYMBOL        L?0050
-  -------         PROC          L?0049
-  -------         ENDPROC       L?0049
-  C:135EH         SYMBOL        L?0050
+  C:0BC0H         PUBLIC        ReadData
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 5
+
+
   -------         PROC          _DELAYMS
   D:0006H         SYMBOL        ms
   -------         DO            
   D:0004H         SYMBOL        i
   D:0005H         SYMBOL        j
   -------         ENDDO         
-  C:1362H         LINE#         43
-  C:1362H         LINE#         44
-  C:1362H         LINE#         45
-  C:1364H         LINE#         46
-  C:1368H         LINE#         47
-  C:1368H         LINE#         48
-  C:136CH         LINE#         49
-  C:136CH         LINE#         50
-  C:136EH         LINE#         51
-  C:1374H         LINE#         53
-  C:137BH         LINE#         54
+  C:0E37H         LINE#         36
+  C:0E37H         LINE#         37
+  C:0E37H         LINE#         38
+  C:0E39H         LINE#         39
+  C:0E3DH         LINE#         40
+  C:0E3DH         LINE#         41
+  C:0E41H         LINE#         42
+  C:0E41H         LINE#         43
+  C:0E43H         LINE#         44
+  C:0E49H         LINE#         46
+  C:0E50H         LINE#         47
   -------         ENDPROC       _DELAYMS
   -------         PROC          UART_INIT
-  C:1407H         LINE#         56
-  C:1407H         LINE#         57
-  C:1407H         LINE#         58
-  C:140AH         LINE#         59
-  C:140DH         LINE#         60
-  C:1410H         LINE#         61
-  C:1413H         LINE#         62
-  C:1416H         LINE#         63
-  C:1418H         LINE#         64
-  C:141AH         LINE#         65
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 6
-
-
-  C:141CH         LINE#         66
+  C:0E9BH         LINE#         49
+  C:0E9BH         LINE#         50
+  C:0E9BH         LINE#         51
+  C:0E9EH         LINE#         52
+  C:0EA1H         LINE#         53
+  C:0EA4H         LINE#         54
+  C:0EA7H         LINE#         55
+  C:0EAAH         LINE#         56
+  C:0EACH         LINE#         57
+  C:0EAEH         LINE#         58
+  C:0EB0H         LINE#         59
   -------         ENDPROC       UART_INIT
   -------         PROC          _US_DELAY
   D:0007H         SYMBOL        t
-  C:0003H         LINE#         68
-  C:0003H         LINE#         69
-  C:0003H         LINE#         70
-  C:0009H         LINE#         71
+  C:0003H         LINE#         61
+  C:0003H         LINE#         62
+  C:0003H         LINE#         63
+  C:0009H         LINE#         64
   -------         ENDPROC       _US_DELAY
   -------         PROC          _SEND_UART
   D:0007H         SYMBOL        value
-  C:1498H         LINE#         73
-  C:1498H         LINE#         74
-  C:1498H         LINE#         75
-  C:149AH         LINE#         76
-  C:149CH         LINE#         77
-  C:149EH         LINE#         78
-  C:14A1H         LINE#         79
-  C:14A3H         LINE#         80
-  C:14A5H         LINE#         81
+  C:0ED4H         LINE#         66
+  C:0ED4H         LINE#         67
+  C:0ED4H         LINE#         68
+  C:0ED6H         LINE#         69
+  C:0ED8H         LINE#         70
+  C:0EDAH         LINE#         71
+  C:0EDDH         LINE#         72
+  C:0EDFH         LINE#         73
+  C:0EE1H         LINE#         74
   -------         ENDPROC       _SEND_UART
-  C:137CH         SYMBOL        L?0052
-  -------         PROC          L?0051
-  -------         ENDPROC       L?0051
-  C:137CH         SYMBOL        L?0052
   -------         PROC          _BLUETOOTH_SET
   D:0001H         SYMBOL        puf
-  C:1382H         LINE#         83
-  C:1382H         LINE#         84
-  C:1382H         LINE#         85
-  C:1388H         LINE#         86
-  C:1388H         LINE#         87
-  C:138BH         LINE#         88
-  C:1390H         LINE#         89
-  C:1397H         LINE#         90
-  C:1399H         LINE#         91
+  C:0E83H         LINE#         76
+  C:0E83H         LINE#         77
+  C:0E83H         LINE#         78
+  C:0E89H         LINE#         79
+  C:0E89H         LINE#         80
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 6
+
+
+  C:0E8CH         LINE#         81
+  C:0E91H         LINE#         82
+  C:0E98H         LINE#         83
+  C:0E9AH         LINE#         84
   -------         ENDPROC       _BLUETOOTH_SET
   -------         PROC          SAVEUSERINFO
   -------         DO            
   D:0006H         SYMBOL        target
   -------         ENDDO         
-  C:10DBH         LINE#         94
-  C:10DBH         LINE#         95
-  C:10DBH         LINE#         96
-  C:10E2H         LINE#         97
-  C:10E9H         LINE#         98
-  C:10ECH         LINE#         99
-  C:10F0H         LINE#         100
-  C:10F7H         LINE#         101
-  C:10FAH         LINE#         102
-  C:1101H         LINE#         103
-  C:1108H         LINE#         104
-  C:110BH         LINE#         105
-  C:110FH         LINE#         106
-  C:1116H         LINE#         107
+  C:0C91H         LINE#         87
+  C:0C91H         LINE#         88
+  C:0C93H         LINE#         89
+  C:0C9AH         LINE#         90
+  C:0CA1H         LINE#         91
+  C:0CA8H         LINE#         92
+  C:0CAFH         LINE#         93
+  C:0CB6H         LINE#         94
+  C:0CBAH         LINE#         95
+  C:0CC1H         LINE#         96
   -------         ENDPROC       SAVEUSERINFO
   -------         PROC          BLUETOOTH_ACCEPT
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 7
-
-
   -------         DO            
-  D:0057H         SYMBOL        target1
-  D:0059H         SYMBOL        target2
-  D:005BH         SYMBOL        i
+  D:0056H         SYMBOL        target1
+  D:0058H         SYMBOL        target2
+  D:005AH         SYMBOL        i
   -------         ENDDO         
-  C:0AF9H         LINE#         111
-  C:0AF9H         LINE#         112
-  C:0B06H         LINE#         113
-  C:0B0CH         LINE#         114
-  C:0B22H         LINE#         115
-  C:0B31H         LINE#         116
-  C:0B4FH         LINE#         117
-  C:0B52H         LINE#         118
-  C:0B6FH         LINE#         119
-  C:0B8EH         LINE#         120
-  C:0BADH         LINE#         121
-  C:0BB2H         LINE#         122
-  C:0BCEH         LINE#         123
-  C:0BEEH         LINE#         124
-  C:0BF8H         LINE#         125
-  C:0BFBH         LINE#         126
-  C:0C18H         LINE#         127
-  C:0C37H         LINE#         128
-  C:0C3CH         LINE#         129
-  C:0C58H         LINE#         130
-  C:0C78H         LINE#         131
-  C:0C82H         LINE#         132
-  C:0C91H         LINE#         133
-  C:0CAFH         LINE#         134
-  C:0CB2H         LINE#         137
-  C:0CD6H         LINE#         138
-  C:0CF9H         LINE#         139
-  C:0CFCH         LINE#         140
-  C:0CFCH         LINE#         141
-  C:0D0BH         LINE#         142
-  C:0D0DH         LINE#         143
-  C:0D0DH         LINE#         144
+  C:0382H         LINE#         99
+  C:0382H         LINE#         100
+  C:038FH         LINE#         101
+  C:0395H         LINE#         102
+  C:03ABH         LINE#         103
+  C:03BAH         LINE#         104
+  C:03D8H         LINE#         105
+  C:03DEH         LINE#         106
+  C:03F8H         LINE#         107
+  C:0401H         LINE#         108
+  C:0404H         LINE#         109
+  C:040CH         LINE#         110
+  C:041BH         LINE#         111
+  C:042DH         LINE#         112
+  C:0436H         LINE#         113
+  C:043DH         LINE#         114
+  C:0457H         LINE#         116
+  C:045CH         LINE#         117
+  C:0465H         LINE#         118
+  C:0468H         LINE#         119
+  C:047FH         LINE#         120
+  C:0487H         LINE#         121
+  C:0495H         LINE#         122
+  C:049BH         LINE#         123
+  C:049EH         LINE#         124
+  C:04B8H         LINE#         125
+  C:04D7H         LINE#         126
+  C:04F6H         LINE#         127
+  C:04FBH         LINE#         128
+  C:0517H         LINE#         129
+  C:0537H         LINE#         130
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 7
+
+
+  C:0541H         LINE#         131
+  C:0554H         LINE#         132
+  C:0573H         LINE#         133
+  C:0592H         LINE#         134
+  C:0597H         LINE#         135
+  C:05B3H         LINE#         136
+  C:05D3H         LINE#         137
+  C:05DDH         LINE#         139
+  C:05F0H         LINE#         140
+  C:05F9H         LINE#         141
+  C:05FCH         LINE#         142
+  C:05FCH         LINE#         143
+  C:060BH         LINE#         144
+  C:060DH         LINE#         145
+  C:060DH         LINE#         146
   -------         ENDPROC       BLUETOOTH_ACCEPT
   -------         PROC          READDATA
-  C:0F17H         LINE#         146
-  C:0F17H         LINE#         147
-  C:0F3AH         LINE#         148
-  C:0F41H         LINE#         149
-  C:0F45H         LINE#         150
-  C:0F4AH         LINE#         151
-  C:0F4EH         LINE#         153
-  C:0F54H         LINE#         154
-  C:0F57H         LINE#         155
-  C:0F5EH         LINE#         156
-  C:0F61H         LINE#         158
-  C:0F68H         LINE#         159
-  C:0F6BH         LINE#         160
-  C:0F72H         LINE#         161
-  C:0F75H         LINE#         162
-  C:0F7CH         LINE#         163
-  C:0F7FH         LINE#         164
-  C:0F86H         LINE#         166
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 8
-
-
-  C:0F86H         LINE#         167
-  C:0FA9H         LINE#         168
-  C:0FCCH         LINE#         169
-  C:0FCCH         LINE#         170
+  C:0BC0H         LINE#         149
+  C:0BC0H         LINE#         151
+  C:0BE3H         LINE#         154
+  C:0BEDH         LINE#         156
+  C:0BF4H         LINE#         158
+  C:0C17H         LINE#         159
   -------         ENDPROC       READDATA
   -------         PROC          WRITEDATA
   -------         DO            
   D:0006H         SYMBOL        target
   -------         ENDDO         
-  C:133FH         LINE#         176
-  C:133FH         LINE#         177
-  C:1343H         LINE#         178
-  C:1349H         LINE#         179
-  C:134CH         LINE#         180
-  C:1350H         LINE#         181
-  C:1357H         LINE#         182
+  C:0DFBH         LINE#         162
+  C:0DFBH         LINE#         163
+  C:0DFFH         LINE#         164
+  C:0E05H         LINE#         165
+  C:0E0AH         LINE#         166
+  C:0E0EH         LINE#         167
+  C:0E15H         LINE#         168
   -------         ENDPROC       WRITEDATA
   -------         PROC          MAIN
-  C:139AH         LINE#         185
-  C:139AH         LINE#         186
-  C:139AH         LINE#         187
-  C:139DH         LINE#         188
-  C:13A0H         LINE#         189
-  C:13A3H         LINE#         190
-  C:13A6H         LINE#         191
-  C:13A6H         LINE#         192
-  C:13A6H         LINE#         193
-  C:13A9H         LINE#         194
-  C:13ACH         LINE#         195
-  C:13AFH         LINE#         196
-  C:13B2H         LINE#         197
-  C:13B5H         LINE#         198
+  C:0E1AH         LINE#         172
+  C:0E1AH         LINE#         173
+  C:0E1AH         LINE#         174
+  C:0E1DH         LINE#         175
+  C:0E20H         LINE#         176
+  C:0E23H         LINE#         177
+  C:0E26H         LINE#         178
+  C:0E26H         LINE#         179
+  C:0E26H         LINE#         180
+  C:0E29H         LINE#         181
+  C:0E2CH         LINE#         182
+  C:0E2FH         LINE#         183
+  C:0E32H         LINE#         184
+  C:0E35H         LINE#         185
   -------         ENDPROC       MAIN
   -------         PROC          UART_INTERRUPT
   -------         DO            
   D:0022H         SYMBOL        i
   -------         ENDDO         
-  C:11D1H         LINE#         201
-  C:11DAH         LINE#         204
-  C:11DDH         LINE#         205
-  C:11E0H         LINE#         206
-  C:11E2H         LINE#         207
-  C:11E5H         LINE#         208
-  C:11ECH         LINE#         209
-  C:11F5H         LINE#         210
-  C:11F8H         LINE#         211
-  C:11FAH         LINE#         212
-  C:11FCH         LINE#         213
-  C:11FEH         LINE#         214
-  C:1200H         LINE#         215
-  C:1202H         LINE#         216
+  C:0C59H         LINE#         189
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 8
+
+
+  C:0C62H         LINE#         192
+  C:0C65H         LINE#         193
+  C:0C68H         LINE#         194
+  C:0C6AH         LINE#         195
+  C:0C6DH         LINE#         196
+  C:0C74H         LINE#         197
+  C:0C7DH         LINE#         198
+  C:0C80H         LINE#         199
+  C:0C82H         LINE#         200
+  C:0C84H         LINE#         201
+  C:0C86H         LINE#         202
+  C:0C88H         LINE#         203
+  C:0C8AH         LINE#         204
   -------         ENDPROC       UART_INTERRUPT
   -------         ENDMOD        MAIN
 
   -------         MODULE        LCD
   C:0000H         SYMBOL        _ICE_DUMMY_
-  C:13B7H         PUBLIC        _DisplayOneChar
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 9
-
-
-  D:0080H         PUBLIC        P0
+  D:0090H         PUBLIC        P1
   D:00A0H         PUBLIC        P2
-  C:1445H         PUBLIC        Read_Busy
-  B:0080H.5       PUBLIC        LCD1602_EN
-  B:0080H.7       PUBLIC        LCD1602_RS
-  B:0080H.6       PUBLIC        LCD1602_RW
-  C:1479H         PUBLIC        _Lcd1602_Write_Data
-  C:1469H         PUBLIC        _Lcd1602_Write_Cmd
-  C:1457H         PUBLIC        _LcdSetCursor
-  C:1267H         PUBLIC        _LcdShowStr
-  C:141DH         PUBLIC        InitLcd1602
-  -------         PROC          READ_BUSY
+  C:0F05H         PUBLIC        _LcdWriteData
+  B:0090H.6       PUBLIC        LCD1602_RS
+  B:0090H.5       PUBLIC        LCD1602_RW
+  C:0E51H         PUBLIC        LcdInit
+  B:0090H.4       PUBLIC        LCD1602_E
+  C:0EFBH         PUBLIC        _LcdWriteCom
+  C:0D0BH         PUBLIC        _Lcd1602_Delay1ms
+  -------         PROC          L?0015
+  -------         ENDPROC       L?0015
+  -------         PROC          _LCD1602_DELAY1MS
+  D:0006H         SYMBOL        c
   -------         DO            
-  D:0007H         SYMBOL        sta
+  D:0004H         SYMBOL        a
+  D:0005H         SYMBOL        b
   -------         ENDDO         
-  C:1445H         LINE#         4
-  C:1445H         LINE#         5
-  C:1445H         LINE#         7
-  C:1448H         LINE#         8
-  C:144AH         LINE#         9
-  C:144CH         LINE#         11
-  C:144CH         LINE#         12
-  C:144EH         LINE#         13
-  C:1450H         LINE#         14
-  C:1452H         LINE#         15
-  C:1456H         LINE#         16
-  -------         ENDPROC       READ_BUSY
-  -------         PROC          _LCD1602_WRITE_CMD
-  D:0006H         SYMBOL        cmd
-  C:1469H         LINE#         18
-  C:146BH         LINE#         19
-  C:146BH         LINE#         20
-  C:146EH         LINE#         21
-  C:1470H         LINE#         22
-  C:1472H         LINE#         23
-  C:1474H         LINE#         24
-  C:1476H         LINE#         25
-  C:1478H         LINE#         26
-  -------         ENDPROC       _LCD1602_WRITE_CMD
-  -------         PROC          _LCD1602_WRITE_DATA
-  D:0006H         SYMBOL        dat
-  C:1479H         LINE#         28
-  C:147BH         LINE#         29
-  C:147BH         LINE#         30
-  C:147EH         LINE#         31
-  C:1480H         LINE#         32
-  C:1482H         LINE#         33
-  C:1484H         LINE#         34
-  C:1486H         LINE#         35
-  C:1488H         LINE#         36
-  -------         ENDPROC       _LCD1602_WRITE_DATA
-  -------         PROC          _LCDSETCURSOR
-  D:0007H         SYMBOL        x
-  D:0005H         SYMBOL        y
-  -------         DO            
-  D:0004H         SYMBOL        addr
-  -------         ENDDO         
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 10
-
-
-  C:1457H         LINE#         38
-  C:1457H         LINE#         39
-  C:1457H         LINE#         41
-  C:145AH         LINE#         42
-  C:145EH         LINE#         44
-  C:1462H         LINE#         46
-  -------         ENDPROC       _LCDSETCURSOR
-  -------         PROC          _DISPLAYONECHAR
-  D:0006H         SYMBOL        X
-  D:0005H         SYMBOL        Y
-  D:0004H         SYMBOL        DData
-  C:13B7H         LINE#         50
-  C:13BBH         LINE#         51
-  C:13BBH         LINE#         52
-  C:13BEH         LINE#         53
-  C:13C1H         LINE#         54
-  C:13C7H         LINE#         55
-  C:13CAH         LINE#         56
-  C:13CFH         LINE#         57
-  -------         ENDPROC       _DISPLAYONECHAR
-  -------         PROC          _LCDSHOWSTR
-  D:0007H         SYMBOL        x
-  D:0005H         SYMBOL        y
-  D:0057H         SYMBOL        str
-  C:1267H         LINE#         61
-  C:126DH         LINE#         62
-  C:126DH         LINE#         63
-  C:1270H         LINE#         64
-  C:127BH         LINE#         65
-  C:127BH         LINE#         66
-  C:128CH         LINE#         67
-  C:128EH         LINE#         68
-  -------         ENDPROC       _LCDSHOWSTR
-  -------         PROC          INITLCD1602
-  C:141DH         LINE#         70
-  C:141DH         LINE#         71
-  C:141DH         LINE#         72
-  C:1422H         LINE#         73
-  C:1427H         LINE#         74
-  C:142CH         LINE#         75
-  -------         ENDPROC       INITLCD1602
+  C:0D0BH         LINE#         11
+  C:0D0BH         LINE#         12
+  C:0D0BH         LINE#         14
+  C:0D14H         LINE#         15
+  C:0D14H         LINE#         16
+  C:0D16H         LINE#         17
+  C:0D16H         LINE#         18
+  C:0D1AH         LINE#         19
+  C:0D1CH         LINE#         20
+  C:0D23H         LINE#         22
+  -------         ENDPROC       _LCD1602_DELAY1MS
+  -------         PROC          _LCDWRITECOM
+  D:0007H         SYMBOL        com
+  C:0EFBH         LINE#         31
+  C:0EFBH         LINE#         32
+  C:0EFBH         LINE#         33
+  C:0EFDH         LINE#         34
+  C:0EFFH         LINE#         35
+  C:0EFFH         LINE#         37
+  C:0EFFH         LINE#         38
+  C:0EFFH         LINE#         40
+  C:0EFFH         LINE#         41
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 9
+
+
+  C:0F02H         LINE#         42
+  C:0F04H         LINE#         43
+  -------         ENDPROC       _LCDWRITECOM
+  -------         PROC          _LCDWRITEDATA
+  D:0007H         SYMBOL        dat
+  C:0F05H         LINE#         74
+  C:0F05H         LINE#         75
+  C:0F05H         LINE#         76
+  C:0F07H         LINE#         77
+  C:0F09H         LINE#         78
+  C:0F09H         LINE#         80
+  C:0F09H         LINE#         81
+  C:0F09H         LINE#         83
+  C:0F09H         LINE#         84
+  C:0F0CH         LINE#         85
+  C:0F0EH         LINE#         86
+  -------         ENDPROC       _LCDWRITEDATA
+  -------         PROC          LCDINIT
+  C:0E51H         LINE#         116
+  C:0E51H         LINE#         117
+  C:0E51H         LINE#         118
+  C:0E56H         LINE#         119
+  C:0E5BH         LINE#         120
+  C:0E60H         LINE#         121
+  C:0E65H         LINE#         122
+  -------         ENDPROC       LCDINIT
   -------         ENDMOD        LCD
 
   -------         MODULE        PWM
   C:0000H         SYMBOL        _ICE_DUMMY_
-  D:0080H         PUBLIC        P0
   D:0090H         PUBLIC        P1
   D:00B0H         PUBLIC        P3
-  C:131FH         PUBLIC        _delay
-  C:12FEH         PUBLIC        pwm_out_right_moto
-  B:0090H.0       PUBLIC        IN1
-  B:0090H.1       PUBLIC        IN2
+  C:0DDBH         PUBLIC        _delay
+  C:0DBAH         PUBLIC        pwm_out_right_moto
+  B:0090H.2       PUBLIC        IN1
+  B:0090H.3       PUBLIC        IN2
   B:0021H.2       PUBLIC        Right_moto_stop
   D:0013H         PUBLIC        pwm_value
-  C:1238H         PUBLIC        run
-  B:00B0H.4       PUBLIC        Right_moto_pwm
+  C:0B5DH         PUBLIC        run
+  B:0090H.7       PUBLIC        Right_moto_pwm
   D:0014H         PUBLIC        push_val_right
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 11
-
-
   D:0015H         PUBLIC        pwm_val_right
   -------         PROC          _DELAY
   D:0006H         SYMBOL        k
@@ -609,95 +530,106 @@ SYMBOL TABLE OF MODULE:  pro (MAIN)
   D:0004H         SYMBOL        x
   D:0002H         SYMBOL        y
   -------         ENDDO         
-  C:131FH         LINE#         12
-  C:131FH         LINE#         13
-  C:131FH         LINE#         15
-  C:1329H         LINE#         16
-  C:133EH         LINE#         17
+  C:0DDBH         LINE#         15
+  C:0DDBH         LINE#         16
+  C:0DDBH         LINE#         18
+  C:0DE5H         LINE#         19
+  C:0DFAH         LINE#         20
   -------         ENDPROC       _DELAY
   -------         PROC          RUN
-  C:1238H         LINE#         19
-  C:1238H         LINE#         20
-  C:1238H         LINE#         21
-  C:1242H         LINE#         22
-  C:124FH         LINE#         23
-  C:125CH         LINE#         24
-  C:125FH         LINE#         25
-  C:1262H         LINE#         26
-  C:1266H         LINE#         27
+  C:0B5DH         LINE#         22
+  C:0B5DH         LINE#         23
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 10
+
+
+  C:0B5DH         LINE#         24
+  C:0B61H         LINE#         25
+  C:0B67H         LINE#         26
+  C:0B74H         LINE#         27
+  C:0B80H         LINE#         28
+  C:0B8AH         LINE#         29
+  C:0B8CH         LINE#         30
+  C:0B91H         LINE#         31
+  C:0B91H         LINE#         34
+  C:0B9BH         LINE#         35
+  C:0BA8H         LINE#         36
+  C:0BB5H         LINE#         37
+  C:0BB8H         LINE#         38
+  C:0BBBH         LINE#         39
+  C:0BBFH         LINE#         40
   -------         ENDPROC       RUN
   -------         PROC          PWM_OUT_RIGHT_MOTO
-  C:12FEH         LINE#         29
-  C:12FEH         LINE#         30
-  C:12FEH         LINE#         31
-  C:1300H         LINE#         32
-  C:1305H         LINE#         33
-  C:130BH         LINE#         34
-  C:130BH         LINE#         35
-  C:130DH         LINE#         36
-  C:130FH         LINE#         38
-  C:130FH         LINE#         39
-  C:1311H         LINE#         40
-  C:1311H         LINE#         41
-  C:131BH         LINE#         42
-  C:131CH         LINE#         43
-  C:131CH         LINE#         44
-  C:131EH         LINE#         45
-  C:131EH         LINE#         46
+  C:0DBAH         LINE#         42
+  C:0DBAH         LINE#         43
+  C:0DBAH         LINE#         44
+  C:0DBCH         LINE#         45
+  C:0DC1H         LINE#         46
+  C:0DC7H         LINE#         47
+  C:0DC7H         LINE#         48
+  C:0DC9H         LINE#         49
+  C:0DCBH         LINE#         50
+  C:0DCBH         LINE#         51
+  C:0DCDH         LINE#         52
+  C:0DCDH         LINE#         53
+  C:0DD7H         LINE#         54
+  C:0DD8H         LINE#         55
+  C:0DD8H         LINE#         56
+  C:0DDAH         LINE#         57
+  C:0DDAH         LINE#         58
   -------         ENDPROC       PWM_OUT_RIGHT_MOTO
   -------         ENDMOD        PWM
 
   -------         MODULE        I2C
   C:0000H         SYMBOL        _ICE_DUMMY_
-  D:0080H         PUBLIC        P0
-  C:111DH         PUBLIC        _I2cSendByte
-  C:14BFH         PUBLIC        I2cStop
-  C:14ABH         PUBLIC        Delay10us
-  B:0080H.0       PUBLIC        SDA
-  C:12DCH         PUBLIC        _At24c02Read
-  B:0080H.1       PUBLIC        SCL
-  C:1489H         PUBLIC        I2cStart
-  C:13EEH         PUBLIC        _At24c02Write
-  C:12B6H         PUBLIC        I2cReadByte
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 12
-
-
-  C:14A6H         SYMBOL        L?0024
+  D:0090H         PUBLIC        P1
+  C:0C18H         PUBLIC        _I2cSendByte
+  C:0F0FH         PUBLIC        I2cStop
+  C:0EE7H         PUBLIC        Delay10us
+  B:0090H.0       PUBLIC        SDA
+  C:0D98H         PUBLIC        _At24c02Read
+  B:0090H.1       PUBLIC        SCL
+  C:0EC5H         PUBLIC        I2cStart
+  C:0E6AH         PUBLIC        _At24c02Write
+  C:0D72H         PUBLIC        I2cReadByte
+  C:0EE2H         SYMBOL        L?0024
   -------         PROC          L?0023
   -------         ENDPROC       L?0023
-  C:14A6H         SYMBOL        L?0024
+  C:0EE2H         SYMBOL        L?0024
   -------         PROC          DELAY10US
   -------         DO            
   D:0006H         SYMBOL        a
   D:0007H         SYMBOL        b
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 11
+
+
   -------         ENDDO         
-  C:14ABH         LINE#         10
-  C:14ABH         LINE#         11
-  C:14ABH         LINE#         13
-  C:14ADH         LINE#         14
-  C:14B3H         LINE#         16
+  C:0EE7H         LINE#         10
+  C:0EE7H         LINE#         11
+  C:0EE7H         LINE#         13
+  C:0EE9H         LINE#         14
+  C:0EEFH         LINE#         16
   -------         ENDPROC       DELAY10US
   -------         PROC          I2CSTART
-  C:1489H         LINE#         25
-  C:1489H         LINE#         26
-  C:1489H         LINE#         27
-  C:148BH         LINE#         28
-  C:148BH         LINE#         29
-  C:148BH         LINE#         30
-  C:148EH         LINE#         31
-  C:1490H         LINE#         32
-  C:1493H         LINE#         33
-  C:1495H         LINE#         34
+  C:0EC5H         LINE#         25
+  C:0EC5H         LINE#         26
+  C:0EC5H         LINE#         27
+  C:0EC7H         LINE#         28
+  C:0EC7H         LINE#         29
+  C:0EC7H         LINE#         30
+  C:0ECAH         LINE#         31
+  C:0ECCH         LINE#         32
+  C:0ECFH         LINE#         33
+  C:0ED1H         LINE#         34
   -------         ENDPROC       I2CSTART
   -------         PROC          I2CSTOP
-  C:14BFH         LINE#         44
-  C:14BFH         LINE#         45
-  C:14BFH         LINE#         46
-  C:14C1H         LINE#         47
-  C:14C1H         LINE#         48
-  C:14C1H         LINE#         49
-  C:14C4H         LINE#         50
-  C:14C6H         LINE#         51
+  C:0F0FH         LINE#         44
+  C:0F0FH         LINE#         45
+  C:0F0FH         LINE#         46
+  C:0F11H         LINE#         47
+  C:0F11H         LINE#         48
+  C:0F11H         LINE#         49
+  C:0F14H         LINE#         50
+  C:0F16H         LINE#         51
   -------         ENDPROC       I2CSTOP
   -------         PROC          _I2CSENDBYTE
   D:0005H         SYMBOL        dat
@@ -705,108 +637,106 @@ SYMBOL TABLE OF MODULE:  pro (MAIN)
   D:0003H         SYMBOL        a
   D:0002H         SYMBOL        b
   -------         ENDDO         
-  C:111DH         LINE#         61
-  C:111FH         LINE#         62
-  C:111FH         LINE#         63
-  C:1122H         LINE#         64
-  C:1122H         LINE#         65
-  C:1122H         LINE#         66
-  C:112DH         LINE#         67
-  C:1131H         LINE#         68
-  C:1131H         LINE#         69
-  C:1131H         LINE#         70
-  C:1134H         LINE#         71
-  C:1136H         LINE#         72
-  C:1139H         LINE#         73
-  C:113DH         LINE#         74
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 13
-
-
-  C:113FH         LINE#         75
-  C:1142H         LINE#         76
-  C:1144H         LINE#         77
-  C:1147H         LINE#         78
-  C:1147H         LINE#         79
-  C:1148H         LINE#         80
-  C:114EH         LINE#         81
-  C:114EH         LINE#         82
-  C:1150H         LINE#         83
-  C:1153H         LINE#         84
-  C:1156H         LINE#         85
-  C:1156H         LINE#         86
-  C:1156H         LINE#         87
-  C:1158H         LINE#         88
-  C:115BH         LINE#         89
-  C:115DH         LINE#         90
+  C:0C18H         LINE#         61
+  C:0C1AH         LINE#         62
+  C:0C1AH         LINE#         63
+  C:0C1DH         LINE#         64
+  C:0C1DH         LINE#         65
+  C:0C1DH         LINE#         66
+  C:0C28H         LINE#         67
+  C:0C2CH         LINE#         68
+  C:0C2CH         LINE#         69
+  C:0C2CH         LINE#         70
+  C:0C2FH         LINE#         71
+  C:0C31H         LINE#         72
+  C:0C34H         LINE#         73
+  C:0C38H         LINE#         74
+  C:0C3AH         LINE#         75
+  C:0C3DH         LINE#         76
+  C:0C3FH         LINE#         77
+  C:0C42H         LINE#         78
+  C:0C42H         LINE#         79
+  C:0C43H         LINE#         80
+  C:0C49H         LINE#         81
+  C:0C49H         LINE#         82
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 12
+
+
+  C:0C4BH         LINE#         83
+  C:0C4EH         LINE#         84
+  C:0C51H         LINE#         85
+  C:0C51H         LINE#         86
+  C:0C51H         LINE#         87
+  C:0C53H         LINE#         88
+  C:0C56H         LINE#         89
+  C:0C58H         LINE#         90
   -------         ENDPROC       _I2CSENDBYTE
   -------         PROC          I2CREADBYTE
   -------         DO            
   D:0005H         SYMBOL        a
   D:0004H         SYMBOL        dat
   -------         ENDDO         
-  C:12B6H         LINE#         99
-  C:12B6H         LINE#         100
-  C:12B6H         LINE#         101
-  C:12B9H         LINE#         102
-  C:12BBH         LINE#         103
-  C:12BEH         LINE#         104
-  C:12BEH         LINE#         105
-  C:12BEH         LINE#         106
-  C:12C0H         LINE#         107
-  C:12C3H         LINE#         108
-  C:12C7H         LINE#         109
-  C:12CDH         LINE#         110
-  C:12D0H         LINE#         111
-  C:12D2H         LINE#         112
-  C:12D5H         LINE#         113
-  C:12D9H         LINE#         114
-  C:12DBH         LINE#         115
+  C:0D72H         LINE#         99
+  C:0D72H         LINE#         100
+  C:0D72H         LINE#         101
+  C:0D75H         LINE#         102
+  C:0D77H         LINE#         103
+  C:0D7AH         LINE#         104
+  C:0D7AH         LINE#         105
+  C:0D7AH         LINE#         106
+  C:0D7CH         LINE#         107
+  C:0D7FH         LINE#         108
+  C:0D83H         LINE#         109
+  C:0D89H         LINE#         110
+  C:0D8CH         LINE#         111
+  C:0D8EH         LINE#         112
+  C:0D91H         LINE#         113
+  C:0D95H         LINE#         114
+  C:0D97H         LINE#         115
   -------         ENDPROC       I2CREADBYTE
   -------         PROC          _AT24C02WRITE
   D:0001H         SYMBOL        addr
   D:0004H         SYMBOL        dat
-  C:13EEH         LINE#         125
-  C:13F2H         LINE#         126
-  C:13F2H         LINE#         127
-  C:13F5H         LINE#         128
-  C:13FAH         LINE#         129
-  C:13FFH         LINE#         130
-  C:1404H         LINE#         131
+  C:0E6AH         LINE#         125
+  C:0E6EH         LINE#         126
+  C:0E6EH         LINE#         127
+  C:0E71H         LINE#         128
+  C:0E76H         LINE#         129
+  C:0E7BH         LINE#         130
+  C:0E80H         LINE#         131
   -------         ENDPROC       _AT24C02WRITE
   -------         PROC          _AT24C02READ
   D:0004H         SYMBOL        addr
   -------         DO            
   D:0005H         SYMBOL        num
   -------         ENDDO         
-  C:12DCH         LINE#         140
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 14
-
-
-  C:12DEH         LINE#         141
-  C:12DEH         LINE#         143
-  C:12E1H         LINE#         144
-  C:12E6H         LINE#         145
-  C:12EBH         LINE#         146
-  C:12EEH         LINE#         147
-  C:12F3H         LINE#         148
-  C:12F8H         LINE#         149
-  C:12FBH         LINE#         150
-  C:12FDH         LINE#         151
+  C:0D98H         LINE#         140
+  C:0D9AH         LINE#         141
+  C:0D9AH         LINE#         143
+  C:0D9DH         LINE#         144
+  C:0DA2H         LINE#         145
+  C:0DA7H         LINE#         146
+  C:0DAAH         LINE#         147
+  C:0DAFH         LINE#         148
+  C:0DB4H         LINE#         149
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 13
+
+
+  C:0DB7H         LINE#         150
+  C:0DB9H         LINE#         151
   -------         ENDPROC       _AT24C02READ
   -------         ENDMOD        I2C
 
   -------         MODULE        IRIN
   C:0000H         SYMBOL        _ICE_DUMMY_
-  D:0080H         PUBLIC        P0
   D:0090H         PUBLIC        P1
   D:00B0H         PUBLIC        P3
   B:00A8H.7       PUBLIC        EA
   D:000AH         PUBLIC        speed
   B:00B0H.5       PUBLIC        k1
-  B:00B0H.2       PUBLIC        k2
-  C:1431H         PUBLIC        IRIN_Init
+  C:0EB1H         PUBLIC        IRIN_Init
   D:000CH         PUBLIC        count
-  C:115EH         PUBLIC        Key_scan
+  C:0D24H         PUBLIC        Key_scan
   D:0089H         PUBLIC        TMOD
   D:000EH         PUBLIC        r_s
   B:00A8H.1       PUBLIC        ET0
@@ -817,198 +747,169 @@ SYMBOL TABLE OF MODULE:  pro (MAIN)
   B:0088H.4       PUBLIC        TR0
   D:0010H         PUBLIC        mileage
   D:0012H         PUBLIC        ms
-  C:0D0EH         PUBLIC        time0
-  C:14B4H         PUBLIC        _delay11
-  C:0E1CH         PUBLIC        display
+  C:092AH         PUBLIC        time0
+  C:0EF0H         PUBLIC        _delay11
+  C:060EH         PUBLIC        display
   C:0016H         PUBLIC        int1
   -------         PROC          _DELAY11
   D:0006H         SYMBOL        i
-  C:14B4H         LINE#         15
-  C:14B4H         LINE#         16
-  C:14B4H         LINE#         17
-  C:14BEH         LINE#         18
+  C:0EF0H         LINE#         15
+  C:0EF0H         LINE#         16
+  C:0EF0H         LINE#         17
+  C:0EFAH         LINE#         18
   -------         ENDPROC       _DELAY11
   -------         PROC          IRIN_INIT
-  C:1431H         LINE#         20
-  C:1431H         LINE#         21
-  C:1431H         LINE#         22
-  C:1434H         LINE#         23
-  C:1437H         LINE#         24
-  C:143AH         LINE#         25
-  C:143CH         LINE#         26
-  C:143EH         LINE#         27
-  C:1440H         LINE#         28
-  C:1442H         LINE#         29
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 15
-
-
-  C:1444H         LINE#         30
+  C:0EB1H         LINE#         20
+  C:0EB1H         LINE#         21
+  C:0EB1H         LINE#         22
+  C:0EB4H         LINE#         23
+  C:0EB7H         LINE#         24
+  C:0EBAH         LINE#         25
+  C:0EBCH         LINE#         26
+  C:0EBEH         LINE#         27
+  C:0EC0H         LINE#         28
+  C:0EC2H         LINE#         29
+  C:0EC4H         LINE#         30
   -------         ENDPROC       IRIN_INIT
   -------         PROC          DISPLAY
-  C:0E1CH         LINE#         32
-  C:0E1CH         LINE#         33
-  C:0E1CH         LINE#         34
-  C:0E22H         LINE#         35
-  C:0E2EH         LINE#         36
-  C:0E47H         LINE#         37
-  C:0E60H         LINE#         38
-  C:0E72H         LINE#         39
-  C:0E7FH         LINE#         41
-  C:0E8CH         LINE#         42
-  C:0EA5H         LINE#         43
-  C:0EBEH         LINE#         44
-  C:0ED0H         LINE#         45
-  C:0EDDH         LINE#         47
-  C:0EEBH         LINE#         48
-  C:0EFBH         LINE#         49
-  C:0F0BH         LINE#         50
-  C:0F16H         LINE#         51
+  C:060EH         LINE#         32
+  C:060EH         LINE#         33
+  C:060EH         LINE#         35
+  C:0613H         LINE#         36
+  C:062CH         LINE#         37
+  C:0645H         LINE#         38
+  C:0657H         LINE#         41
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 14
+
+
+  C:065CH         LINE#         42
+  C:0675H         LINE#         43
+  C:068EH         LINE#         44
+  C:06A7H         LINE#         45
+  C:06B9H         LINE#         46
+  C:06BEH         LINE#         48
+  C:06C3H         LINE#         49
+  C:06CDH         LINE#         50
+  C:06D9H         LINE#         51
+  C:06E5H         LINE#         52
+  C:06F2H         LINE#         55
+  C:06F7H         LINE#         56
+  C:0710H         LINE#         57
+  C:0729H         LINE#         58
+  C:0742H         LINE#         59
+  C:0754H         LINE#         60
+  C:0759H         LINE#         62
+  C:075EH         LINE#         63
+  C:0777H         LINE#         64
+  C:0790H         LINE#         65
+  C:07A9H         LINE#         66
+  C:07BBH         LINE#         67
+  C:07C0H         LINE#         69
+  C:07C5H         LINE#         70
+  C:07CDH         LINE#         71
+  C:07D2H         LINE#         72
   -------         ENDPROC       DISPLAY
   -------         PROC          KEY_SCAN
-  C:115EH         LINE#         54
-  C:115EH         LINE#         55
-  C:1161H         LINE#         56
-  C:1161H         LINE#         57
-  C:1168H         LINE#         58
-  C:116BH         LINE#         59
-  C:1173H         LINE#         60
-  C:1181H         LINE#         61
-  C:1181H         LINE#         62
-  C:1184H         LINE#         63
-  C:1184H         LINE#         65
-  C:1187H         LINE#         66
-  C:1187H         LINE#         67
-  C:118EH         LINE#         68
-  C:1191H         LINE#         69
-  C:1194H         LINE#         70
-  C:1194H         LINE#         71
-  C:1197H         LINE#         72
-  C:1197H         LINE#         74
+  C:0D24H         LINE#         74
+  C:0D24H         LINE#         75
+  C:0D27H         LINE#         76
+  C:0D2EH         LINE#         77
+  C:0D31H         LINE#         78
+  C:0D39H         LINE#         79
+  C:0D47H         LINE#         80
+  C:0D47H         LINE#         81
+  C:0D4AH         LINE#         82
+  C:0D4AH         LINE#         83
   -------         ENDPROC       KEY_SCAN
   -------         PROC          TIME0
   -------         DO            
   D:0008H         SYMBOL        time
   -------         ENDDO         
-  C:0D0EH         LINE#         76
-  C:0D2BH         LINE#         79
-  C:0D2EH         LINE#         80
-  C:0D31H         LINE#         81
-  C:0D39H         LINE#         82
-  C:0D3CH         LINE#         83
-  C:0D4CH         LINE#         84
-  C:0D4EH         LINE#         85
-  C:0D54H         LINE#         86
-  C:0D5AH         LINE#         87
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 16
-
-
-  C:0D60H         LINE#         88
-  C:0D62H         LINE#         89
-  C:0DA9H         LINE#         90
-  C:0DC3H         LINE#         91
-  C:0E01H         LINE#         92
-  C:0E01H         LINE#         93
+  C:092AH         LINE#         85
+  C:0947H         LINE#         88
+  C:094AH         LINE#         89
+  C:094DH         LINE#         90
+  C:0955H         LINE#         91
+  C:0958H         LINE#         92
+  C:0965H         LINE#         93
+  C:0967H         LINE#         94
+  C:096DH         LINE#         95
+  C:0981H         LINE#         96
+  C:098CH         LINE#         97
+  C:09A6H         LINE#         98
+  C:09B7H         LINE#         99
+  C:09BDH         LINE#         100
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 15
+
+
+  C:09BFH         LINE#         101
+  C:09BFH         LINE#         102
   -------         ENDPROC       TIME0
   -------         PROC          INT1
-  C:0016H         LINE#         95
-  C:0018H         LINE#         97
-  C:0020H         LINE#         98
+  C:0016H         LINE#         104
+  C:0018H         LINE#         106
+  C:0020H         LINE#         107
   -------         ENDPROC       INT1
   -------         ENDMOD        IRIN
 
-  -------         MODULE        ?C?FPADD
-  C:002DH         PUBLIC        ?C?FPADD
-  C:0029H         PUBLIC        ?C?FPSUB
-  -------         ENDMOD        ?C?FPADD
-
-  -------         MODULE        ?C?FPMUL
-  C:011EH         PUBLIC        ?C?FPMUL
-  -------         ENDMOD        ?C?FPMUL
+  -------         MODULE        ?C?CLDPTR
+  C:07D3H         PUBLIC        ?C?CLDPTR
+  -------         ENDMOD        ?C?CLDPTR
 
-  -------         MODULE        ?C?FPDIV
-  C:0227H         PUBLIC        ?C?FPDIV
-  -------         ENDMOD        ?C?FPDIV
+  -------         MODULE        ?C?IMUL
+  C:07ECH         PUBLIC        ?C?IMUL
+  -------         ENDMOD        ?C?IMUL
 
-  -------         MODULE        ?C?FCAST
-  C:02CEH         PUBLIC        ?C?FCASTC
-  C:02C9H         PUBLIC        ?C?FCASTI
-  C:02C4H         PUBLIC        ?C?FCASTL
-  -------         ENDMOD        ?C?FCAST
+  -------         MODULE        ?C?UIDIV
+  C:07FEH         PUBLIC        ?C?UIDIV
+  -------         ENDMOD        ?C?UIDIV
 
-  -------         MODULE        ?C?CASTF
-  C:0302H         PUBLIC        ?C?CASTF
-  -------         ENDMOD        ?C?CASTF
+  -------         MODULE        ?C?SIDIV
+  C:0853H         PUBLIC        ?C?SIDIV
+  -------         ENDMOD        ?C?SIDIV
 
   -------         MODULE        PRINTF
-  D:005DH         PUBLIC        ?_PRINTF?BYTE
-  D:005DH         PUBLIC        ?_SPRINTF?BYTE
-  C:06ECH         PUBLIC        _PRINTF
-  C:06E6H         PUBLIC        _SPRINTF
+  D:005CH         PUBLIC        ?_PRINTF517?BYTE
+  D:005CH         PUBLIC        ?_PRINTF?BYTE
+  D:005CH         PUBLIC        ?_SPRINTF517?BYTE
+  D:005CH         PUBLIC        ?_SPRINTF?BYTE
+  C:0088H         PUBLIC        _PRINTF
+  C:0088H         PUBLIC        _PRINTF517
+  C:0082H         PUBLIC        _SPRINTF
+  C:0082H         PUBLIC        _SPRINTF517
   -------         ENDMOD        PRINTF
 
-  -------         MODULE        ?C?FPROUND
-  C:0383H         PUBLIC        ?C?FPROUND
-  -------         ENDMOD        ?C?FPROUND
-
-  -------         MODULE        ?C?FPCONVERT
-  C:03B2H         PUBLIC        ?C?FPCONVERT
-  -------         ENDMOD        ?C?FPCONVERT
-
-  -------         MODULE        ?C?FTNPWR
-  C:04E5H         PUBLIC        ?C?FTNPWR
-  -------         ENDMOD        ?C?FTNPWR
-
-  -------         MODULE        ?C?CLDPTR
-BL51 BANKED LINKER/LOCATER V6.22                                                      04/08/2022  03:21:38  PAGE 17
-
+  -------         MODULE        STRSTR
+  D:005CH         PUBLIC        ?_strstr?BYTE
+  C:0A66H         PUBLIC        _strstr
+  -------         ENDMOD        STRSTR
 
-  C:0525H         PUBLIC        ?C?CLDPTR
-  -------         ENDMOD        ?C?CLDPTR
+  -------         MODULE        ?C?MEMSET
+  C:0889H         PUBLIC        ?C?MEMSET
+  -------         ENDMOD        ?C?MEMSET
 
   -------         MODULE        ?C?CLDOPTR
-  C:053EH         PUBLIC        ?C?CLDOPTR
+  C:08B5H         PUBLIC        ?C?CLDOPTR
   -------         ENDMOD        ?C?CLDOPTR
 
   -------         MODULE        ?C?CSTPTR
-  C:056BH         PUBLIC        ?C?CSTPTR
+  C:08E2H         PUBLIC        ?C?CSTPTR
   -------         ENDMOD        ?C?CSTPTR
 
-  -------         MODULE        ?C?IMUL
-  C:057DH         PUBLIC        ?C?IMUL
-  -------         ENDMOD        ?C?IMUL
-
-  -------         MODULE        ?C?UIDIV
-  C:058FH         PUBLIC        ?C?UIDIV
-  -------         ENDMOD        ?C?UIDIV
-
-  -------         MODULE        ?C?SIDIV
-  C:05E4H         PUBLIC        ?C?SIDIV
-  -------         ENDMOD        ?C?SIDIV
-
-  -------         MODULE        ?C?LNEG
-  C:061AH         PUBLIC        ?C?LNEG
-  -------         ENDMOD        ?C?LNEG
-
   -------         MODULE        ?C?PLDIIDATA
-  C:0628H         PUBLIC        ?C?PLDIIDATA
+  C:08F4H         PUBLIC        ?C?PLDIIDATA
   -------         ENDMOD        ?C?PLDIIDATA
+BL51 BANKED LINKER/LOCATER V6.22                                                      04/09/2022  18:14:52  PAGE 16
+
+
 
   -------         MODULE        ?C?CCASE
-  C:0638H         PUBLIC        ?C?CCASE
+  C:0904H         PUBLIC        ?C?CCASE
   -------         ENDMOD        ?C?CCASE
 
   -------         MODULE        PUTCHAR
-  C:128FH         PUBLIC        _PUTCHAR
+  C:0D4BH         PUBLIC        _PUTCHAR
   -------         ENDMOD        PUTCHAR
 
-  -------         MODULE        STRSTR
-  D:005DH         PUBLIC        ?_strstr?BYTE
-  C:1059H         PUBLIC        _strstr
-  -------         ENDMOD        STRSTR
-
-  -------         MODULE        ?C?MEMSET
-  C:065EH         PUBLIC        ?C?MEMSET
-  -------         ENDMOD        ?C?MEMSET
-
-Program Size: data=111.3 xdata=0 code=5315
+Program Size: data=102.3 xdata=0 code=3859
 LINK/LOCATE RUN COMPLETE.  0 WARNING(S),  0 ERROR(S)
diff --git a/pro.build_log.htm b/pro.build_log.htm
index e561794..8b88c6c 100644
--- a/pro.build_log.htm
+++ b/pro.build_log.htm
@@ -24,9 +24,9 @@ Project File Date:  05/31/2019
 <h2>Output:</h2>
 Build target 'Target 1'
 compiling main.c...
-main.c(195): warning C206: 'Key_scan': missing function-prototype
+main.c(182): warning C206: 'Key_scan': missing function-prototype
 linking...
-Program Size: data=111.3 xdata=0 code=5315
+Program Size: data=102.3 xdata=0 code=3859
 creating hex file from "pro"...
 "pro" - 0 Error(s), 1 Warning(s).
 Build Time Elapsed:  00:00:01
diff --git a/pro.hex b/pro.hex
index 648f32a..695066d 100644
--- a/pro.hex
+++ b/pro.hex
@@ -1,378 +1,280 @@
-:10119800696E71756972650073706565643A256476
-:1011A800206B6D2F68206D696C656167653A2564F1
-:1011B800206D0D0A007365743A0028002C00290080
-:0911C800534554204F4B0D0A0061
-:0C12090002230000014E00C10901220078
-:04135E007F027E008C
-:101362007C64EF4E60131CEC60087D0A1DED60F694
-:0913720080FAEF1F70EC1E80E907
-:01137B00224F
-:10140700758921759850758DFD858D8BE4F587D28B
-:06141700AFD2ACD28E2220
+:100AE800696E71756972650073706565643A25642D
+:100AF800206D2F6D696E206D696C656167653A259B
+:100B080064206D0D0A006D6F64656C004D6F64653F
+:100B18006C20534554204F4B0D0A00636C6561727D
+:100B2800007265736574206D696C65616765204F37
+:100B38004B210D0A007370656564007365743A0093
+:100B480028002C0029005573657220534554204F06
+:050B58004B210D0A0015
+:0F0CC80002230000012600012500C109012200BE
+:100E37007C64EF4E60131CEC60087D0A1DED60F6C4
+:090E470080FAEF1F70EC1E80E937
+:010E5000227F
+:100E9B00758921759850758DFD858D8BE4F587D2FD
+:060EAB00AFD2ACD28E2292
 :07000300AE071FEE70FA22A8
-:0E149800C2ACC2998F993099FDC299D2AC2294
-:06137C007B007A007926D7
-:10138200120525FF60111214987F051200037401E3
-:0813920029F9E43AFA80E9228E
-:1010DB00E54FFF3395E0FEAD077F031213EE1213BE
-:1010EB005E7E00AF50AD077F041213EE12135EE568
-:1010FB0051FF3395E0FEAD077F051213EE12135E21
-:10110B007E00AF52AD077F061213EE7F027E000208
-:02111B0013625D
-:100AF900E4F557F558F559F55AF55BF55C20090306
-:100B0900020D0D7560FF756111756298FB7A0079A8
-:100B190026121059E94A4B60337E007F287D007BFD
-:100B2900007A00792612065E7560FF75611175629B
-:100B3900A0850A63850B648510658511667B007A3B
-:100B49000079261206E612137C020CFC7560FF750B
-:100B590061117562BD7B007A007926121059E94A44
-:100B69004B7003020CFC7560FF7561117562C27BE5
-:100B7900007A007926121059AE02C3E99426F55875
-:100B8900EE9400F5577560FF7561117562C47B00BD
-:100B99007A007926121059AE02C3E99426F55AEE65
-:100BA9009400F559E4F54FF550E5582401F55CE456
-:100BB9003557F55BC3E55C955AE5596480F8E55B03
-:100BC900648098502A7426255CF8E624D0FBE43426
-:100BD900FFFAAE4FAF507C007D0A12057DEF2BF571
-:100BE90050EE3AF54F055CE55C7002055B80C51275
-:100BF900137C7560FF7561117562C47A00792612DC
-:100C09001059AE02C3E99426F558EE9400F55775CC
-:100C190060FF7561117562C67B007A007926121032
-:100C290059AE02C3E99426F55AEE9400F559E4F554
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diff --git a/pro.uvgui.QY b/pro.uvgui.QY
index 8233d2d..e6b94f0 100644
--- a/pro.uvgui.QY
+++ b/pro.uvgui.QY
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         <OriginalItems>
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@@ -1855,54 +1855,54 @@
       <ActiveTab>0</ActiveTab>
       <Doc>
         <Name>.\main.c</Name>
-        <ColumnNumber>28</ColumnNumber>
-        <TopLine>115</TopLine>
-        <CurrentLine>138</CurrentLine>
+        <ColumnNumber>38</ColumnNumber>
+        <TopLine>87</TopLine>
+        <CurrentLine>124</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>lcd.h</Name>
-        <ColumnNumber>13</ColumnNumber>
+        <ColumnNumber>9</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>50</CurrentLine>
+        <CurrentLine>1</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>.\IRIN.c</Name>
-        <ColumnNumber>9</ColumnNumber>
-        <TopLine>44</TopLine>
-        <CurrentLine>69</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>50</TopLine>
+        <CurrentLine>108</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>.\pwm.c</Name>
-        <ColumnNumber>1</ColumnNumber>
+        <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>27</CurrentLine>
+        <CurrentLine>41</CurrentLine>
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         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>pwm.h</Name>
-        <ColumnNumber>19</ColumnNumber>
+        <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>21</CurrentLine>
+        <CurrentLine>19</CurrentLine>
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         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>.\lcd.c</Name>
-        <ColumnNumber>4</ColumnNumber>
+        <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
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+        <CurrentLine>74</CurrentLine>
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diff --git a/pro.uvopt b/pro.uvopt
index a4432e8..916a4d8 100644
--- a/pro.uvopt
+++ b/pro.uvopt
@@ -203,7 +203,7 @@
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       <FileNumber>2</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\lcd.c</PathWithFileName>
@@ -227,7 +227,7 @@
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       <FileNumber>4</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\i2c.c</PathWithFileName>
diff --git a/pwm.LST b/pwm.LST
index 76a3d12..b71755c 100644
--- a/pwm.LST
+++ b/pwm.LST
@@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   PWM                                                               04/08/2022 03:07:52 PAGE 1   
+C51 COMPILER V9.56.0.0   PWM                                                               04/09/2022 17:15:06 PAGE 1   
 
 
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE PWM
@@ -8,62 +8,74 @@ COMPILER INVOKED BY: D:\Keil_v5\C51\BIN\C51.EXE pwm.c OPTIMIZE(8,SPEED) BROWSE D
 line level    source
 
    1          #include "pwm.h"
-   2          
-   3          unsigned char pwm_val_right =0;
-   4          unsigned char push_val_right=0;
-   5          
+   2          #include <math.h>
+   3          
+   4          unsigned char pwm_val_right =0;
+   5          unsigned char push_val_right=0;
    6          unsigned char pwm_value=0;
    7          
-   8          extern uint model;
-   9          
-  10          bit Right_moto_stop = 0;
-  11          
-  12          void delay(unsigned int k)
-  13          {    
-  14   1         unsigned int x,y;
-  15   1         for(x=0;x<k;x++) 
-  16   1           for(y=0;y<2000;y++);
-  17   1      }
-  18          
-  19          void run(void)
-  20          {
-  21   1        if(model == 0) pwm_value = 0;
-  22   1        else if(model == 1) pwm_value = 2;
-  23   1        else if(model == 2) pwm_value = 5;
-  24   1        else pwm_value = 10;
-  25   1        push_val_right=pwm_value;
-  26   1        Right_moto_back;
-  27   1      }
-  28          
-  29          void pwm_out_right_moto(void)
-  30          { 
-  31   1        pwm_val_right++;
-  32   1        if(~Right_moto_stop){
-  33   2          if(pwm_val_right <= push_val_right)
-  34   2          {
-  35   3              Right_moto_pwm=1;  
-  36   3          }
-  37   2          else 
-  38   2          {
-  39   3            Right_moto_pwm=0;
-  40   3          }
-  41   2          if(pwm_val_right>=20) pwm_val_right=0;
-  42   2        }
-  43   1        else{
-  44   2            Right_moto_pwm=0;
-  45   2        }
-  46   1      }
-  47                 
-  48          
-  49          
-  50          
-  51          
+   8          extern uint Seep_model;
+   9          extern struct UserInfo usr;
+  10          extern uchar model;
+  11          extern uint mileage;
+  12          
+  13          bit Right_moto_stop = 0;
+  14          
+  15          void delay(unsigned int k)
+  16          {    
+  17   1         unsigned int x,y;
+  18   1         for(x=0;x<k;x++) 
+  19   1           for(y=0;y<2000;y++);
+  20   1      }
+  21          
+  22          void run(void)
+  23          {
+  24   1        if(model){
+  25   2          Seep_model = usr.Seep_model;
+  26   2          usr.Remaining_mileage = usr.target_mileage - mileage;
+  27   2          if(usr.Remaining_mileage < 0) usr.Remaining_mileage = 0;
+  28   2          if(usr.Remaining_mileage == 0) Seep_model = 0;
+  29   2        }else{
+  30   2          usr.Remaining_mileage = 0;
+  31   2        }
+  32   1      
+  33   1        
+  34   1        if(Seep_model == 0) pwm_value = 0;
+  35   1        else if(Seep_model == 1) pwm_value = 2;
+  36   1        else if(Seep_model == 2) pwm_value = 5;
+  37   1        else pwm_value = 7;
+  38   1        push_val_right=pwm_value;
+  39   1        Right_moto_back;
+  40   1      }
+  41          
+  42          void pwm_out_right_moto(void)
+  43          { 
+  44   1        pwm_val_right++;
+  45   1        if(~Right_moto_stop){
+  46   2          if(pwm_val_right <= push_val_right)
+  47   2          {
+  48   3            Right_moto_pwm=1;  
+  49   3          }
+  50   2          else{
+  51   3            Right_moto_pwm=0;
+  52   3          }
+  53   2          if(pwm_val_right>=20) pwm_val_right=0;
+  54   2        }
+  55   1        else{
+C51 COMPILER V9.56.0.0   PWM                                                               04/09/2022 17:15:06 PAGE 2   
 
+  56   2          Right_moto_pwm=0;
+  57   2        }
+  58   1      }
+  59              
+  60          
+  61          
+  62          
+  63          
 
-MODULE INFORMATION:   STATIC OVERLAYABLE
-   CODE SIZE        =    112    ----
-C51 COMPILER V9.56.0.0   PWM                                                               04/08/2022 03:07:52 PAGE 2   
 
+MODULE INFORMATION:   STATIC OVERLAYABLE
+   CODE SIZE        =    164    ----
    CONSTANT SIZE    =   ----    ----
    XDATA SIZE       =   ----    ----
    PDATA SIZE       =   ----    ----
diff --git a/pwm.OBJ b/pwm.OBJ
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diff --git a/pwm.c b/pwm.c
index 8b6729f..169b333 100644
--- a/pwm.c
+++ b/pwm.c
@@ -1,11 +1,14 @@
 #include "pwm.h"
+#include <math.h>
 
 unsigned char pwm_val_right =0;
 unsigned char push_val_right=0;
-
 unsigned char pwm_value=0;
 
-extern uint model;
+extern uint Seep_model;
+extern struct UserInfo usr;
+extern uchar model;
+extern uint mileage;
 
 bit Right_moto_stop = 0;
 
@@ -18,10 +21,20 @@ void delay(unsigned int k)
 
 void run(void)
 {
-	if(model == 0) pwm_value = 0;
-	else if(model == 1) pwm_value = 2;
-	else if(model == 2) pwm_value = 5;
-	else pwm_value = 10;
+	if(model){
+		Seep_model = usr.Seep_model;
+		usr.Remaining_mileage = usr.target_mileage - mileage;
+		if(usr.Remaining_mileage < 0) usr.Remaining_mileage = 0;
+		if(usr.Remaining_mileage == 0) Seep_model = 0;
+	}else{
+		usr.Remaining_mileage = 0;
+	}
+
+	
+	if(Seep_model == 0) pwm_value = 0;
+	else if(Seep_model == 1) pwm_value = 2;
+	else if(Seep_model == 2) pwm_value = 5;
+	else pwm_value = 7;
 	push_val_right=pwm_value;
 	Right_moto_back;
 }
@@ -32,19 +45,18 @@ void pwm_out_right_moto(void)
 	if(~Right_moto_stop){
 		if(pwm_val_right <= push_val_right)
 		{
-				Right_moto_pwm=1;  
+			Right_moto_pwm=1;  
 		}
-		else 
-		{
+		else{
 			Right_moto_pwm=0;
 		}
 		if(pwm_val_right>=20) pwm_val_right=0;
 	}
 	else{
-			Right_moto_pwm=0;
+		Right_moto_pwm=0;
 	}
 }
-       
+    
 
 
 
diff --git a/pwm.h b/pwm.h
index ed59d07..2cb931a 100644
--- a/pwm.h
+++ b/pwm.h
@@ -1,29 +1,32 @@
 #ifndef _PWM_H
 #define _PWM_H
 
-
 #include <reg51.h>
 #include "IRIN.h"
 
 void delay(unsigned int k);
-void  run(void);
-void  backrun(void);
-void  leftrun(void);
-void  rightrun(void);
+void run(void);
+void backrun(void);
+void leftrun(void);
+void rightrun(void);
 void pwm_out_left_moto(void);
 void pwm_out_right_moto(void);
 
+sbit IN1=P1^2;
+sbit IN2=P1^3;
 
-   //����С������ģ������IO�� 
-sbit IN1=P1^0;
-sbit IN2=P1^1;
 sbit EN1=P3^4;
-sbit Right_moto_pwm=P3^4;	 //PWM�źŶ�
+sbit Right_moto_pwm=P1^7;
 
+#define Right_moto_go     {IN1=1,IN2=0;}
+#define Right_moto_back   {IN1=0,IN2=1;}
+#define Right_moto_Stop   {EN1=0; }      	
 
-#define Right_moto_go     {IN1=1,IN2=0;}	//�ұߵ����ǰ��
-#define Right_moto_back   {IN1=0,IN2=1;}	//�ұߵ�������
-#define Right_moto_Stop   {EN1=0;}      	//�ұߵ��ͣת 
+struct UserInfo{
+	int Seep_model; 
+	int target_mileage;
+	int Remaining_mileage;
+};
 
 
 #endif
\ No newline at end of file