完成大部分功能

3 years ago · 703eb18952
23 changed files with 1815 additions and 1740 deletions
--- a/IRIN.LST
+++ b/IRIN.LST
@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   IRIN                                                              04/06/2022 23:56:38 PAGE 1   
+C51 COMPILER V9.56.0.0   IRIN                                                              04/08/2022 03:09:39 PAGE 1   
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE IRIN
@ -10,223 +10,120 @@ line level    source
   1          #include "IRIN.h"
   2          #include "i2c.h"
   3          
-   4          uint journey;
+   4          uint mileage = 0;
-   5          uint journey1;
+   5          
-   6          extern uchar pwm_left;
+   6          uint count=0;   
-   7          unsigned int b;
+   7          
-   8          unsigned int c;
+   8          uchar ms=0;
-   9          extern uint time1;
+   9          uint speed=0;
-  10          extern uchar pwm_val_left;
+  10          uint r_s=0;
-  11          unsigned int b2;
+  11          
-  12          unsigned int c2;
+  12          extern uint model;
-  13          
+  13          extern uchar set;
-  14          uint money=7;
+  14          
-  15          uint sudu=0;
+  15          void delay11(int i)
-  16          
+  16          {
-  17          uint count=0;   //栅格是一圈20个
+  17   1        while(i--); 
-  18          
+  18   1      }
-  19          uchar ms=0;
+  19          
-  20          uint speed=0;
+  20          void IRIN_Init(void)
-  21          uint r_s=0;
+  21          {
-  22          
+  22   1         TMOD=0x01 | 0x20;
-  23          bit state=0;
+  23   1         TH0=0XFc;
-  24          bit s0=0;
+  24   1         TL0=0X18;
-  25          bit flas=0;
+  25   1         ET0=1;
-  26          
+  26   1         TR0=1;
-  27          uchar sec=0;
+  27   1         EA=1;
-  28          uchar sec1=0;
+  28   1         EX1=1;
-  29          
+  29   1         IT1=1;
-  30          /*******************************************************************************
+  30   1      }
-  31          * 函 数 名         : delay
+  31          
-  32          * 函数功能       : 延时函数，i=1时，大约延时10us
+  32          void display()
-  33          *******************************************************************************/
+  33          {
-  34          void delay11(int i)
+  34   1        LcdSetCursor(0,0);
-  35          {
+  35   1        LcdShowStr(0,0,"");
-  36   1        while(i--); 
+  36   1        Lcd1602_Write_Data(0x30+speed/100%10);
-  37   1      }
+  37   1        Lcd1602_Write_Data(0x30+speed/10%10);
-  38          
+  38   1        Lcd1602_Write_Data(0x30+speed%10);
-  39          void IRIN_Init(void)
+  39   1        LcdShowStr(3,0,"KM/h ");
-  40          {
+  40   1        
-  41   1         TMOD=0x01 | 0x20 ;//定时器1工作方式1
+  41   1        LcdShowStr(8,0,"");
-  42   1         TH0=0x3C;
+  42   1        Lcd1602_Write_Data(0x30+mileage/100%10);
-  43   1         TL0=0xb0;
+  43   1        Lcd1602_Write_Data(0x30+mileage/10%10);
-  44   1         ET0=1;
+  44   1        Lcd1602_Write_Data(0x30+mileage%10);
-  45   1         TR0=1;
+  45   1        LcdShowStr(11,0,"m         ");
-  46   1         EA=1;
+  46   1        
-  47   1         EX1=1;
+  47   1        if(model == 0) LcdShowStr(13,0," ");
-  48   1         IT1=1;
+  48   1        else if(model == 1) LcdShowStr(13, 0, "L");
-  49   1      }
+  49   1        else if(model == 2) LcdShowStr(13, 0, "M");
-  50          
+  50   1        else LcdShowStr(13, 0, "H");
-  51          void display()
+  51   1      }
-  52           {
+  52          
-  53   1        if(state==0) 
+  53          
-  54   1         {
+  54          void Key_scan(){
-  55   2           sudu=At24c02Read(10);
+  55   1        if(k1==0)
-C51 COMPILER V9.56.0.0   IRIN                                                              04/06/2022 23:56:38 PAGE 2   
+C51 COMPILER V9.56.0.0   IRIN                                                              04/08/2022 03:09:39 PAGE 2   
-  56   2           if(money>7)
+  56   1        {
-  57   2           {
+  57   2          delay11(1000);  //Ïû¶¶´¦Àí
-  58   3             money=At24c02Read(5);
+  58   2          if(k1==0){
-  59   3           }
+  59   3            model++;
-  60   2           LcdSetCursor(0,0);
+  60   3            if(model >= 4) model = 0;
-  61   2           LcdShowStr(0,0,"Speed:");
+  61   3          }
-  62   2           Lcd1602_Write_Data(0x30+sudu/100%10);
+  62   2          while(!k1);
-  63   2           Lcd1602_Write_Data(0x30+sudu/10%10);
+  63   2        }
-  64   2           Lcd1602_Write_Data(0x30+sudu%10);
+  64   1        
-  65   2           LcdShowStr(10,0,"KM/h");
+  65   1        if(k2==0)
-  66   2           
+  66   1        {
-  67   2           LcdShowStr(0,1,"L:");
+  67   2          delay11(1000);  //Ïû¶¶´¦Àí
-  68   2           Lcd1602_Write_Data(journey/10000%10+0x30);
+  68   2          if(k2==0){
-  69   2           Lcd1602_Write_Data(journey/1000%10+0x30);
+  69   3            set = 1;
-  70   2           Lcd1602_Write_Data(journey/100%10+0x30);
+  70   3          }
-  71   2           Lcd1602_Write_Data(journey/10%10+0x30);
+  71   2          while(!k2);
-  72   2           Lcd1602_Write_Data(journey%10+0x30);
+  72   2        }
-  73   2           LcdShowStr(7,1,"M");
+  73   1      
-  74   2           
+  74   1      }
-  75   2           if(journey>1000)
+  75          
-  76   2            {
+  76          void time0() interrupt 1  
-  77   3              money=(journey-1000)*0.002+7;
+  77          {
-  78   3              At24c02Write(5,money);
+  78   1        static int time = 0;
-  79   3            }
+  79   1        TH0=0XFc;
-  80   2            money=money*10;
+  80   1        TL0=0X18;
-  81   2            LcdShowStr(9,1,"Q:");
+  81   1        time++; 
-  82   2            Lcd1602_Write_Data(money/1000%10+0x30);
+  82   1        pwm_out_right_moto();
-  83   2            Lcd1602_Write_Data(money/100%10+0x30);
+  83   1        if(time >= 500){
-  84   2            Lcd1602_Write_Data(money/10%10+0x30);
+  84   2          EX1=0;
-  85   2            LcdShowStr(14,1,".");
+  85   2          time = 0;    
-  86   2            Lcd1602_Write_Data(money%10+0x30);
+  86   2          r_s=count;                  
-  87   2            
+  87   2          count=0;
-  88   2             money=money/10;
+  88   2          EX1=1;        
-  89   2            
+  89   2          speed=speed*0.5+(r_s*6)*0.5;         
-  90   2          }
+  90   2          speed=(0.15*speed);
-  91   1       }
+  91   2          mileage = mileage+(r_s*2.5/20);
-  92           
+  92   2        }
-  93           
+  93   1      }
  94          
-  95           void keypros()
+  95          void int1() interrupt 2 
  96          {
-  97   1          if(k2==0)
+  97   1        count++;      
-  98   1        {
+  98   1      }
-  99   2          delay11(1000);  //消抖处理
+  99          
- 100   2          if(k2==0)
+ 100          
- 101   2          {
+ 101          
- 102   3            sudu=At24c02Read(10);   //读取EEPROM地址1内的数据   
+ 102          
- 103   3            
+ 103          
- 104   3            b2=At24c02Read(1);
+ 104          
- 105   3            c2=At24c02Read(8);
+ 105           
 106   3            journey=(b2<<8) | c2;
 107   3          
 108   3            money=At24c02Read(5);
 109   3            
 110   3          }
 111   2          while(!k2);
 112   2        }
 113   1        
 114   1        if(k1==0)
 115   1        {
 116   2          delay11(1000);  //消抖处理
 117   2          if(k1==0)
 C51 COMPILER V9.56.0.0   IRIN                                                              04/06/2022 23:56:38 PAGE 3   
 118   2          {
 119   3            flas=1;
 120   3      
 121   3          }
 122   2          while(!k1);
 123   2        }
 124   1        if(k4==0)
 125   1        {
 126   2          delay11(1000);  //消抖处理
 127   2          if(k4==0)
 128   2          {
 129   3            if(pwm_left>=20)
 130   3            {
 131   4              pwm_left=1;
 132   4            }
 133   3            else
 134   3            {       
 135   4            pwm_left++;
 136   4            }
 137   3          }
 138   2          while(!k4);
 139   2        }
 140   1        
 141   1       }
 142           
 143           void time0() interrupt 1  //定时器 0 
 144           {
 145   1         TH0=0x3C;
 146   1         TL0=0xb0;         //50ms定时
 147   1         ms++;             //变量50ms加一 
 148   1         if(ms%5==0)   s0=~s0;
 149   1         
 150   1         
 151   1         if(ms%10==0)        //500ms定时
 152   1          {
 153   2            
 154   2              if(sec!=0)  sec--;
 155   2              if(sec1!=0) sec1--;
 156   2              ms=0;          //清零变量
 157   2              EX1=0;         //关闭外部中断，保证变量在计算的时候不会增加
 158   2              r_s=count;       //因为是500ms检测一次转动数据，所以要想一秒转动的圈数是 speed=count*2   ,但是光栅是一圈2
             -0格，所以还要除以20；
 159   2                               //综合一下，一秒转动的圈数就是  speed=count*2/20    ==》   speed=counr/10;
 160   2                count=0;             //清零变量
 161   2              EX1=1;         //打开外部中断
 162   2              speed=speed*0.5+(r_s*6)*0.5;          //  这里r_s是一秒走的圈数，然后乘以60得到60秒走的圈数，单位变成了
             -   r/min；   总方式  speed=count/10*60;  ==>> speed=count*6;
 163   2              
 164   2              if(flas==0)
 165   2              {
 166   3                sudu=(0.15*speed);
 167   3                At24c02Write(10,sudu);
 168   3                
 169   3                journey=journey+(r_s*2.5/20);
 170   3                journey1=journey;
 171   3                c = journey & 0x00FF;
 172   3                At24c02Write(8,c);
 173   3                  
 174   3                delay11(1000); 
 175   3                b=journey1>>8;
 176   3                At24c02Write(1,b);
 177   3              }
 C51 COMPILER V9.56.0.0   IRIN                                                              04/06/2022 23:56:38 PAGE 4   
 178   2              else
 179   2              {
 180   3                journey=0;
 181   3                money=7;        
 182   3                At24c02Write(1,journey);
 183   3                At24c02Write(8,journey);
 184   3                At24c02Write(5,money);
 185   3                flas=0;
 186   3              }
 187   2        }
 188   1      }
 189           
 190          void int1()  interrupt 2  //外部中断 1
 191           {
 192   1         
 193   1         count++;         //中断每触发一次，变量加一  
 194   1         
 195   1       }
 196          
 197          
 198          
 199          
 200          
 201          
 202           
 MODULE INFORMATION:   STATIC OVERLAYABLE
-   CODE SIZE        =   1006    ----
+   CODE SIZE        =    623    ----
-   CONSTANT SIZE    =     22    ----
+   CONSTANT SIZE    =     26    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
-   DATA SIZE        =     25    ----
+   DATA SIZE        =     11    ----
   IDATA SIZE       =   ----    ----
-   BIT SIZE         =      3    ----
+   BIT SIZE         =   ----    ----
 END OF MODULE INFORMATION.
--- a/IRIN.OBJ
+++ b/IRIN.OBJ
--- a/IRIN.c
+++ b/IRIN.c
@ -1,36 +1,17 @@
 #include "IRIN.h"
 #include "i2c.h"
-uint journey;
+uint mileage = 0;
 uint journey1;
 extern uchar pwm_left;
 unsigned int b;
 unsigned int c;
 extern uint time1;
 extern uchar pwm_val_left;
 unsigned int b2;
 unsigned int c2;
-uint money=7;
+uint count=0;	  
 uint sudu=0;
 uint count=0;	  //栅格是一圈20个
 uchar ms=0;
 uint speed=0;
 uint r_s=0;
-bit state=0;
+extern uint model;
-bit s0=0;
+extern uchar set;
 bit flas=0;
 uchar sec=0;
 uchar sec1=0;
 /*******************************************************************************
 * 函 数 名         : delay
 * 函数功能		   : 延时函数，i=1时，大约延时10us
 *******************************************************************************/
 void delay11(int i)
 {
 	while(i--);	
@ -38,9 +19,9 @@ void delay11(int i)
 void IRIN_Init(void)
 {
-	 TMOD=0x01 | 0x20 ;//定时器1工作方式1
+   TMOD=0x01 | 0x20;
-   TH0=0x3C;
+   TH0=0XFc;
-   TL0=0xb0;
+   TL0=0X18;
   ET0=1;
   TR0=1;
   EA=1;
@ -50,148 +31,70 @@ void IRIN_Init(void)
 void display()
 {
  if(state==0) 
   {
 		 sudu=At24c02Read(10);
 		 if(money>7)
 		 {
 		   money=At24c02Read(5);
 		 }
 	LcdSetCursor(0,0);
-	   LcdShowStr(0,0,"Speed:");
+	LcdShowStr(0,0,"");
-	   Lcd1602_Write_Data(0x30+sudu/100%10);
+	Lcd1602_Write_Data(0x30+speed/100%10);
-	   Lcd1602_Write_Data(0x30+sudu/10%10);
+	Lcd1602_Write_Data(0x30+speed/10%10);
-	   Lcd1602_Write_Data(0x30+sudu%10);
+	Lcd1602_Write_Data(0x30+speed%10);
-	   LcdShowStr(10,0,"KM/h");
+	LcdShowStr(3,0,"KM/h ");
 		 LcdShowStr(0,1,"L:");
 		 Lcd1602_Write_Data(journey/10000%10+0x30);
 		 Lcd1602_Write_Data(journey/1000%10+0x30);
 		 Lcd1602_Write_Data(journey/100%10+0x30);
 		 Lcd1602_Write_Data(journey/10%10+0x30);
 		 Lcd1602_Write_Data(journey%10+0x30);
 		 LcdShowStr(7,1,"M");
     if(journey>1000)
 	    {
 		  	money=(journey-1000)*0.002+7;
 				At24c02Write(5,money);
      }
 			money=money*10;
 		  LcdShowStr(9,1,"Q:");
 		 	Lcd1602_Write_Data(money/1000%10+0x30);
 		  Lcd1602_Write_Data(money/100%10+0x30);
 		  Lcd1602_Write_Data(money/10%10+0x30);
 			LcdShowStr(14,1,".");
 		  Lcd1602_Write_Data(money%10+0x30);
-		   money=money/10;
+	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         ");
 	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");
 }
 }
- void keypros()
+void Key_scan(){
 {
 	 	if(k2==0)
 	{
 		delay11(1000);  //消抖处理
 		if(k2==0)
 		{
 			sudu=At24c02Read(10);	  //读取EEPROM地址1内的数据		
 		  b2=At24c02Read(1);
 	    c2=At24c02Read(8);
      journey=(b2<<8) | c2;
 			money=At24c02Read(5);
 		}
 		while(!k2);
 	}
 	if(k1==0)
 	{
 		delay11(1000);  //消抖处理
-		if(k1==0)
+		if(k1==0){
-		{
+			model++;
-			flas=1;
+			if(model >= 4) model = 0;
 		}
 		while(!k1);
 	}
-	if(k4==0)
+	
 	if(k2==0)
 	{
 		delay11(1000);  //消抖处理
-		if(k4==0)
+		if(k2==0){
-		{
+			set = 1;
 			if(pwm_left>=20)
 			{
 				pwm_left=1;
 		}
-		  else
+		while(!k2);
      {				
 			pwm_left++;
 			}
 		}
 		while(!k4);
 	}
 }
- void time0() interrupt 1	 //定时器 0 
+void time0() interrupt 1	
 {
-   TH0=0x3C;
+	static int time = 0;
-   TL0=0xb0;				 //50ms定时
+	TH0=0XFc;
-   ms++;					   //变量50ms加一	
+	TL0=0X18;
-   if(ms%5==0)   s0=~s0;
+	time++;	
-	 
+	pwm_out_right_moto();
-	 
+	if(time >= 500){
-   if(ms%10==0) 			 //500ms定时
+		EX1=0;
-    {
+		time = 0;		 
-			
+		r_s=count;			 						
-				if(sec!=0)  sec--;
+		count=0;
-				if(sec1!=0) sec1--;
+		EX1=1;				
-				ms=0;					 //清零变量
+		speed=speed*0.5+(r_s*6)*0.5;         
-				EX1=0;				 //关闭外部中断，保证变量在计算的时候不会增加
+		speed=(0.15*speed);
-				r_s=count;			 //因为是500ms检测一次转动数据，所以要想一秒转动的圈数是 speed=count*2   ,但是光栅是一圈20格，所以还要除以20；
+		mileage = mileage+(r_s*2.5/20);
 												 //综合一下，一秒转动的圈数就是  speed=count*2/20    ==》   speed=counr/10;
 					count=0;		         //清零变量
 				EX1=1;				 //打开外部中断
 				speed=speed*0.5+(r_s*6)*0.5;          //	这里r_s是一秒走的圈数，然后乘以60得到60秒走的圈数，单位变成了   r/min；	 总方式  speed=count/10*60;  ==>> speed=count*6;
 			  if(flas==0)
 				{
 					sudu=(0.15*speed);
 					At24c02Write(10,sudu);
 					journey=journey+(r_s*2.5/20);
 					journey1=journey;
 					c = journey & 0x00FF;
 					At24c02Write(8,c);
 					delay11(1000); 
 					b=journey1>>8;
 					At24c02Write(1,b);
 				}
 				else
 				{
 					journey=0;
 					money=7;				
 					At24c02Write(1,journey);
 					At24c02Write(8,journey);
 					At24c02Write(5,money);
 					flas=0;
 				}
 	}
 }
-void int1()  interrupt 2  //外部中断 1
+void int1() interrupt 2 
 {
-	 
+	count++;			
   count++;				  //中断每触发一次，变量加一  
 }
--- a/IRIN.h
+++ b/IRIN.h
@ -5,20 +5,14 @@
 #include "lcd.h"
 #include "pwm.h"
 sbit k1=P3^5;
 sbit k2=P3^4;
 sbit k3=P3^3;
 sbit k4=P3^2;	 //¶¨Òå°´¼ü¶Ë¿Ú
 sbit k1=P3^5;
 sbit k2=P3^2;
 void IRIN_Init(void);
 void display();
 void keypros();
 #endif
--- a/i2c.LST
+++ b/i2c.LST
@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   I2C                                                               04/06/2022 22:40:09 PAGE 1   
+C51 COMPILER V9.56.0.0   I2C                                                               04/08/2022 02:58:55 PAGE 1   
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE I2C
@ -62,7 +62,7 @@ line level    source
  53          /*******************************************************************************
  54          * 函数名         : I2cSendByte(unsigned char dat)
  55          * 函数功能     : 通过I2C发送一个字节。在SCL时钟信号高电平期间，保持发送信号SDA保持稳定
-C51 COMPILER V9.56.0.0   I2C                                                               04/06/2022 22:40:09 PAGE 2   
+C51 COMPILER V9.56.0.0   I2C                                                               04/08/2022 02:58:55 PAGE 2   
  56          * 输入           : num
  57          * 输出           : 0或1。发送成功返回1，发送失败返回0
@ -126,7 +126,7 @@ line level    source
 115   1      }
 116          
 117          
-C51 COMPILER V9.56.0.0   I2C                                                               04/06/2022 22:40:09 PAGE 3   
+C51 COMPILER V9.56.0.0   I2C                                                               04/08/2022 02:58:55 PAGE 3   
 118          /*******************************************************************************
 119          * 函数名         : void At24c02Write(unsigned char addr,unsigned char dat)
--- a/i2c.OBJ
+++ b/i2c.OBJ
--- a/i2c.__i
+++ b/i2c.__i
@ -1 +0,0 @@
 "i2c.c" OPTIMIZE (8,SPEED) BROWSE DEBUG OBJECTEXTEND TABS (2)
--- a/i2c.h
+++ b/i2c.h
@ -12,5 +12,6 @@ unsigned char I2cSendByte(unsigned char dat);
 unsigned char I2cReadByte();
 void At24c02Write(unsigned char addr,unsigned char dat);
 unsigned char At24c02Read(unsigned char addr);
 void Delay10us();
 #endif
--- a/lcd.LST
+++ b/lcd.LST
@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   LCD                                                               04/06/2022 22:23:01 PAGE 1   
+C51 COMPILER V9.56.0.0   LCD                                                               04/08/2022 02:58:55 PAGE 1   
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE LCD
@ -62,7 +62,7 @@ line level    source
  53   1        X &= 0xF; //限制X不能大于15，Y不能大于1
  54   1        if (Y) X |= 0x40; //当要显示第二行时地址码+0x40;
  55   1        X |= 0x80; //算出指令码
-C51 COMPILER V9.56.0.0   LCD                                                               04/06/2022 22:23:01 PAGE 2   
+C51 COMPILER V9.56.0.0   LCD                                                               04/08/2022 02:58:55 PAGE 2   
  56   1        Lcd1602_Write_Cmd(X); //发命令字
  57   1        Lcd1602_Write_Data(DData); //发数据
--- a/lcd.OBJ
+++ b/lcd.OBJ
--- a/main.LST
+++ b/main.LST
@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   MAIN                                                              04/06/2022 23:54:42 PAGE 1   
+C51 COMPILER V9.56.0.0   MAIN                                                              04/08/2022 03:21:37 PAGE 1   
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE MAIN
@ -13,135 +13,235 @@ line level    source
   4          #include "pwm.h"
   5          #include "i2c.h"
   6          #include "IRIN.h"
-   7          
+   7          #include <string.h>
-   8          unsigned char PuZh[]=" Pechin Science ";
+   8          #include <stdio.h>
-   9          extern uint journey;
+   9          # include <stdlib.h>
-  10          extern uint money;
+  10          
-  11          extern uchar sudu;
+  11          #define uint unsigned int
-  12          unsigned int b12;
+  12          #define uchar unsigned char  
-  13          unsigned int c12;
+  13          
-  14          
+  14          typedef unsigned char uint8;
-  15          
+  15          typedef unsigned int uint16;
-  16          unsigned int b123;
+  16          
-  17          unsigned int c123;
+  17          extern uint mileage;
-  18          extern unsigned char pwm_left;
+  18          extern uint speed;
-  19          unsigned char code ASCII[15] =   {'0','1','2','3','4','5','6','7','8','9','.','-','M'};
+  19          
-  20          
+  20          uint model = 0;
-  21          void delayms(unsigned int ms)
+  21          
-  22          {
+  22          extern unsigned char pwm_value;
-  23   1        unsigned char i=100,j;
+  23          
-  24   1        for(;ms;ms--)
+  24          
-  25   1        {
+  25          struct UserInfo{
-  26   2          while(--i)
+  26            int height;
-  27   2          {
+  27            int weight;
-  28   3            j=10;
+  28            int target_mileage;
-  29   3            while(--j);
+  29            int target_speed;
-  30   3          }
+  30          };
-  31   2        }
+  31          
-  32   1      }
+  32          uchar set = 0;
  33          
-  34          void Uart_Init()                                //使用定时器1作为波特率发生器（STC89C52、STC89C51、AT89C51
+  34          struct UserInfo usr;
-             -等均可）
+  35          
-  35          { 
+  36          /*****************相关变量**************/
-  36   1          TMOD = 0x20 | 0x01;
+  37          
-  37   1      
+  38          uchar Receive;   
-  38   1          SCON = 0x50;                                 //设置串行方式
+  39          uchar Recive_table[40];                  //用于接收wifi模块反馈到MCU上的数据
-  39   1      
+  40          
-  40   1          TH1 = 0xFD;                                         //波特率9600
+  41          bit accept = 0;
-  41   1      
+  42          
-  42   1          TL1 = TH1;
+  43          void delayms(unsigned int ms)
-  43   1      
+  44          {
-  44   1          PCON = 0x00;
+  45   1        unsigned char i=100,j;
-  45   1      
+  46   1        for(;ms;ms--)
-  46   1          EA = 1;                                                //总中断打开
+  47   1        {
-  47   1      
+  48   2          while(--i)
-  48   1          ES = 1;                                                //开串口中断 
+  49   2          {
-  49   1      
+  50   3            j=10;
-  50   1          TR1 = 1;                                        //启动定时器1
+  51   3            while(--j);
-  51   1      
+  52   3          }
-  52   1      }
+  53   2        }
-  53          
+  54   1      }
  54          void us_delay(uchar t)
 C51 COMPILER V9.56.0.0   MAIN                                                              04/06/2022 23:54:42 PAGE 2   
  55          
-  56          { 
+C51 COMPILER V9.56.0.0   MAIN                                                              04/08/2022 03:21:37 PAGE 2   
-  57   1      
+
-  58   1              while(t--);
+  56          void Uart_Init()                                
-  59   1      
+  57          { 
-  60   1      } 
+  58   1        TMOD = 0x20 | 0x01;
-  61          
+  59   1        SCON = 0x50;                                
-  62          void Send_Uart(uchar value)
+  60   1        TH1 = 0xFD;                                         
-  63          
+  61   1        TL1 = TH1;
-  64          { 
+  62   1        PCON = 0x00;
-  65   1      
+  63   1        EA = 1;                                                
-  66   1              ES=0;                                                  //关闭串口中断 
+  64   1        ES = 1;                                           
-  67   1      
+  65   1        TR1 = 1;                                        
-  68   1              TI=0;                                           //清发送完毕中断请求标志位  
+  66   1      }
-  69   1      
+  67          
-  70   1              SBUF=value;                                 //发送 
+  68          void us_delay(uchar t)
-  71   1      
+  69          { 
-  72   1              while(TI==0);                                 //等待发送完毕  
+  70   1          while(t--);
-  73   1      
+  71   1      } 
-  74   1              TI=0;                                           //清发送完毕中断请求标志位  
+  72          
-  75   1      
+  73          void Send_Uart(uchar value)
-  76   1              ES=1;                                                  //允许串口中断  
+  74          { 
-  77   1      
+  75   1        ES=0;                                                  
-  78   1      } 
+  76   1        TI=0;                                            
-  79          
+  77   1        SBUF=value;                               
-  80          void ESP8266_Set(uchar *puf)         // 数组指针*puf指向字符串数组                
+  78   1        while(TI==0);                                 
-  81          
+  79   1        TI=0;                                             
-  82          {   
+  80   1        ES=1;                                                 
-  83   1      
+  81   1      } 
-  84   1              while(*puf!='\0')                    //遇到空格跳出循环 
+  82          
-  85   1      
+  83          void Bluetooth_Set(uchar *puf)                    
  84          {   
  85   1        while(*puf!='\0')                    
  86   1        {  
-  87   2      
+  87   2          Send_Uart(*puf);                  
-  88   2                      Send_Uart(*puf);                  //向WIFI模块发送控制指令。  
+  88   2          us_delay(5);  
-  89   2                      
+  89   2          puf++;   
-  90   2                      us_delay(5);  
+  90   2        } 
-  91   2      
+  91   1      }
-  92   2                      puf++;   
+  92          
-  93   2      
+  93          
-  94   2              } 
+  94          void saveUserInfo(){
-  95   1      
+  95   1        int target = 0;
-  96   1      }
+  96   1        target = usr.height >> 8;
-  97          
+  97   1        At24c02Write(3, target);
-  98          void main(void)
+  98   1        delayms(2);
-  99          {
+  99   1        target = (usr.height) & 0x00ff;
- 100   1        int i = 0;
+ 100   1        At24c02Write(4, target);
- 101   1        InitLcd1602();
+ 101   1        delayms(2);
- 102   1        IRIN_Init();
+ 102   1        target = (usr.weight) >> 8;
- 103   1        Uart_Init(); 
+ 103   1        At24c02Write(5, target);
- 104   1        pwm_left=10;
+ 104   1        delayms(2);
- 105   1        b12=At24c02Read(1);
+ 105   1        target = (usr.weight) & 0x00ff;
- 106   1        c12=At24c02Read(8);
+ 106   1        At24c02Write(6, target);
- 107   1        money = 120;
+ 107   1        delayms(2);
- 108   1        money=At24c02Read(5);
+ 108   1      }
- 109   1        journey = (b12<<8)|c12;
+ 109          
- 110   1        
+ 110          
- 111   1        while(1)
+ 111          void Bluetooth_Accept(){
- 112   1        {
+ 112   1        int target1 = 0, target2 = 0, i = 0;
- 113   2          run();
+ 113   1        if(accept){
- 114   2          ESP8266_Set("1111\r\n");
+ 114   2          if(strstr(Recive_table, "inquire") != NULL){
- 115   2          display();
+ 115   3            memset(Recive_table, 0, sizeof(Recive_table));
- 116   2          keypros();
+ 116   3            sprintf(Recive_table, "speed:%d km/h mileage:%d m\r\n",speed, mileage);
-C51 COMPILER V9.56.0.0   MAIN                                                              04/06/2022 23:54:42 PAGE 3   
+ 117   3            Bluetooth_Set(Recive_table);
 C51 COMPILER V9.56.0.0   MAIN                                                              04/08/2022 03:21:37 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            // 计算
 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   
- 117   2          Delay10us();
+ 180   1        target = mileage & 0x00ff;
-*** WARNING C206 IN LINE 117 OF main.c: 'Delay10us': missing function-prototype
+ 181   1        At24c02Write(2, target);
- 118   2        } 
+ 182   1        delayms(2);
- 119   1      }
+ 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接收wifi模块反馈回来的数据    
             -  
 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++;                                                                                  //遇到换行 重
             -新装值 
 214   2        }  
 215   1        else TI=0;  
 216   1      }
 MODULE INFORMATION:   STATIC OVERLAYABLE
-   CODE SIZE        =    179    ----
+   CODE SIZE        =   1000    ----
-   CONSTANT SIZE    =     22    ----
+   CONSTANT SIZE    =     57    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
-   DATA SIZE        =     25       2
+   DATA SIZE        =     53       6
   IDATA SIZE       =   ----    ----
-   BIT SIZE         =   ----    ----
+   BIT SIZE         =      1    ----
 END OF MODULE INFORMATION.
--- a/main.OBJ
+++ b/main.OBJ
--- a/main.c
+++ b/main.c
@ -4,19 +4,41 @@
 #include "pwm.h"
 #include "i2c.h"
 #include "IRIN.h"
 #include <string.h>
 #include <stdio.h>
 # include <stdlib.h>
-unsigned char PuZh[]=" Pechin Science ";
+#define uint unsigned int
-extern uint journey;
+#define uchar unsigned char  
 extern uint money;
 extern uchar sudu;
 unsigned int b12;
 unsigned int c12;
 typedef unsigned char uint8;
 typedef unsigned int uint16;
-unsigned int b123;
+extern uint mileage;
-unsigned int c123;
+extern uint speed;
-extern unsigned char pwm_left;
+
-unsigned char code ASCII[15] =   {'0','1','2','3','4','5','6','7','8','9','.','-','M'};
+uint model = 0;
 extern unsigned char pwm_value;
 struct UserInfo{
 	int height;
 	int weight;
 	int target_mileage;
 	int target_speed;
 };
 uchar set = 0;
 struct UserInfo usr;
 /*****************相关变量**************/
 uchar Receive;   
 uchar Recive_table[40];                  //用于接收wifi模块反馈到MCU上的数据
 bit accept = 0;
 void delayms(unsigned int ms)
 {
@ -31,89 +53,164 @@ void delayms(unsigned int ms)
 	}
 }
-void Uart_Init()                                //使用定时器1作为波特率发生器（STC89C52、STC89C51、AT89C51等均可）
+void Uart_Init()                                
 { 
 	TMOD = 0x20 | 0x01;
-
+	SCON = 0x50;                                
-    SCON = 0x50;                                 //设置串行方式
+	TH1 = 0xFD;                                         
    TH1 = 0xFD;                                         //波特率9600
 	TL1 = TH1;
 	PCON = 0x00;
-
+	EA = 1;                                                
-    EA = 1;                                                //总中断打开
+	ES = 1;                                           
-
+	TR1 = 1;                                        
    ES = 1;                                                //开串口中断 
    TR1 = 1;                                        //启动定时器1
 }
 void us_delay(uchar t)
 { 
    while(t--);
 } 
 void Send_Uart(uchar value)
 { 
 	ES=0;                                                  
 	TI=0;                                            
 	SBUF=value;                               
 	while(TI==0);                                 
 	TI=0;                                             
 	ES=1;                                                 
 } 
-        ES=0;                                                  //关闭串口中断 
+void Bluetooth_Set(uchar *puf)                    
-
+{   
-        TI=0;                                           //清发送完毕中断请求标志位  
+	while(*puf!='\0')                    
-
+	{  
-        SBUF=value;                                 //发送 
+		Send_Uart(*puf);                  
-
+		us_delay(5);  
-        while(TI==0);                                 //等待发送完毕  
+		puf++;   
-
+	} 
-        TI=0;                                           //清发送完毕中断请求标志位  
+}
        ES=1;                                                  //允许串口中断  
 void saveUserInfo(){
 	int target = 0;
 	target = usr.height >> 8;
 	At24c02Write(3, target);
 	delayms(2);
 	target = (usr.height) & 0x00ff;
 	At24c02Write(4, target);
 	delayms(2);
 	target = (usr.weight) >> 8;
 	At24c02Write(5, target);
 	delayms(2);
 	target = (usr.weight) & 0x00ff;
 	At24c02Write(6, target);
 	delayms(2);
 }
 void ESP8266_Set(uchar *puf)         // 数组指针*puf指向字符串数组                
-{   
+void Bluetooth_Accept(){
-
+	int target1 = 0, target2 = 0, i = 0;
-        while(*puf!='\0')                    //遇到空格跳出循环 
+	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);
 			Bluetooth_Set(Recive_table);
 		}else if(strstr(Recive_table, "set:") != NULL){
 			target1 = strstr(Recive_table, "(") - Recive_table;
 			target2 = strstr(Recive_table, ",") - Recive_table;
 			usr.height = 0;
 			for(i = target1 + 1; i < target2; i++){
 				usr.height = usr.height * 10 + (*(Recive_table + i) - 0x30);
 			}
 			Bluetooth_Set(Recive_table);
 			target1 = strstr(Recive_table, ",") - Recive_table;
 			target2 = strstr(Recive_table, ")") - Recive_table;
 			usr.weight = 0;
 			for(i = target1 + 1; i < target2; i++){
 				usr.weight = usr.weight * 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);
 			// 计算
 			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 ;
 			saveUserInfo();
 		}
 		memset(Recive_table, 0, sizeof(Recive_table));
 		accept = 0;
 	}
 }
-        {  
+void ReadData(){
 	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);
 	}
 }
                Send_Uart(*puf);                  //向WIFI模块发送控制指令。  
                us_delay(5);  
                puf++;   
        } 
 void WriteData(){
 	int target = mileage >> 8;
 	At24c02Write(1, target);
 	delayms(2);
 	target = mileage & 0x00ff;
 	At24c02Write(2, target);
 	delayms(2);
 }
 void main(void)
 {
 	int i = 0;
 	InitLcd1602();
 	IRIN_Init();
 	Uart_Init(); 
-	pwm_left=10;
+	ReadData();
 	b12=At24c02Read(1);
  c12=At24c02Read(8);
 	money = 120;
  money=At24c02Read(5);
  journey = (b12<<8)|c12;
 	while(1)
 	{
 		run();
 		ESP8266_Set("1111\r\n");
 		display();
-		keypros();
+		Key_scan();
-		Delay10us();
+		Bluetooth_Accept();
 		WriteData();
 	}	
 }
 void Uart_Interrupt() interrupt 4        
 {   
 	static uchar i=0;
 	if( accept) return;
 	if(RI==1) {  
 		RI=0;  
 		Receive=SBUF;                                                        //MCU接收wifi模块反馈回来的数据      
 		Recive_table[i]=Receive;  
 		if((Recive_table[i]=='\r')){                    
 			i=0;
 			accept = 1;
 		}   
 		else i++;                                                                                  //遇到换行 重新装值 
 	}  
 	else TI=0;  
 }
--- a/BIN
+++ b/BIN
--- a/pro.M51
+++ b/pro.M51
--- a/pro.build_log.htm
+++ b/pro.build_log.htm
@ -23,11 +23,12 @@ Project File Date:  05/31/2019
 <h2>Output:</h2>
 Build target 'Target 1'
-compiling IRIN.c...
+compiling main.c...
 main.c(195): warning C206: 'Key_scan': missing function-prototype
 linking...
-Program Size: data=71.5 xdata=0 code=2992
+Program Size: data=111.3 xdata=0 code=5315
 creating hex file from "pro"...
-"pro" - 0 Error(s), 0 Warning(s).
+"pro" - 0 Error(s), 1 Warning(s).
 Build Time Elapsed:  00:00:01
 </pre>
 </body>
--- a/pro.hex
+++ b/pro.hex
@ -1,223 +1,378 @@
-:100A9E00313131310D0A0030313233343536373899
+:10119800696E71756972650073706565643A256476
-:060AAE00392E2D4D000061
+:1011A800206B6D2F68206D696C656167653A2564F1
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--- a/pro.uvgui.QY
+++ b/pro.uvgui.QY
--- a/pro.uvopt
+++ b/pro.uvopt
@ -191,7 +191,7 @@
      <GroupNumber>1</GroupNumber>
      <FileNumber>1</FileNumber>
      <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>.\main.c</PathWithFileName>
@ -203,7 +203,7 @@
      <GroupNumber>1</GroupNumber>
      <FileNumber>2</FileNumber>
      <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>.\lcd.c</PathWithFileName>
@ -215,7 +215,7 @@
      <GroupNumber>1</GroupNumber>
      <FileNumber>3</FileNumber>
      <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>.\pwm.c</PathWithFileName>
--- a/pwm.LST
+++ b/pwm.LST
@ -1,4 +1,4 @@
-C51 COMPILER V9.56.0.0   PWM                                                               04/06/2022 22:23:01 PAGE 1   
+C51 COMPILER V9.56.0.0   PWM                                                               04/08/2022 03:07:52 PAGE 1   
 C51 COMPILER V9.56.0.0, COMPILATION OF MODULE PWM
@ -9,135 +9,67 @@ line level    source
   1          #include "pwm.h"
   2          
-   3          unsigned char pwm_val_left  =0;//变量定义
+   3          unsigned char pwm_val_right =0;
-   4          unsigned char push_val_left =0;// 左电机占空比N/20
+   4          unsigned char push_val_right=0;
-   5          unsigned char pwm_val_right =0;
+   5          
-   6          unsigned char push_val_right=0;// 右电机占空比N/20
+   6          unsigned char pwm_value=0;
-   7          unsigned char pwm_left=0;
+   7          
-   8          
+   8          extern uint model;
-   9          bit Right_moto_stop=1;
+   9          
-  10          bit Left_moto_stop =1;
+  10          bit Right_moto_stop = 0;
  11          
-  12          unsigned  int  time1=0;
+  12          void delay(unsigned int k)
-  13             
+  13          {    
-  14             
+  14   1         unsigned int x,y;
-  15             
+  15   1         for(x=0;x<k;x++) 
-  16          /************************************************************************/  
+  16   1           for(y=0;y<2000;y++);
-  17          //延时函数  
+  17   1      }
-  18           void delay(unsigned int k)
+  18          
-  19          {    
+  19          void run(void)
-  20   1           unsigned int x,y;
+  20          {
-  21   1         for(x=0;x<k;x++) 
+  21   1        if(model == 0) pwm_value = 0;
-  22   1           for(y=0;y<2000;y++);
+  22   1        else if(model == 1) pwm_value = 2;
-  23   1      }
+  23   1        else if(model == 2) pwm_value = 5;
-  24          /************************************************************************/
+  24   1        else pwm_value = 10;
-  25          //前速前进
+  25   1        push_val_right=pwm_value;
-  26            void  run(void)
+  26   1        Right_moto_back;
-  27          {
+  27   1      }
-  28   1         push_val_left=3;  //速度调节变量 0-20。。。0最小，20最大
+  28          
-  29   1         push_val_right=pwm_left;
+  29          void pwm_out_right_moto(void)
-  30   1         Left_moto_go ;   //左电机往前走
+  30          { 
-  31   1         Right_moto_go ;  //右电机往前走
+  31   1        pwm_val_right++;
-  32   1      }
+  32   1        if(~Right_moto_stop){
-  33          
+  33   2          if(pwm_val_right <= push_val_right)
-  34           void  backrun(void)
+  34   2          {
-  35          {
+  35   3              Right_moto_pwm=1;  
-  36   1         push_val_left=3;  //速度调节变量 0-20。。。0最小，20最大
+  36   3          }
-  37   1         push_val_right=4;
+  37   2          else 
-  38   1         Left_moto_back;   //左电机往前走
+  38   2          {
-  39   1         Right_moto_back;  //右电机往前走
+  39   3            Right_moto_pwm=0;
-  40   1      }
+  40   3          }
-  41          
+  41   2          if(pwm_val_right>=20) pwm_val_right=0;
-  42          
+  42   2        }
-  43          //左转
+  43   1        else{
-  44               void  leftrun(void)
+  44   2            Right_moto_pwm=0;
-  45          {  
+  45   2        }
-  46   1           push_val_left=0;
+  46   1      }
-  47   1           push_val_right=4;
+  47                 
-  48   1           Right_moto_go ;  //右电机往前走
+  48          
-  49   1      }
+  49          
  50          
  51          
  52          //右转
  53          void  rightrun(void)
  54          { 
  55   1          push_val_right=0;
 C51 COMPILER V9.56.0.0   PWM                                                               04/06/2022 22:23:01 PAGE 2   
  56   1          push_val_left=4;
  57   1          Left_moto_go  ;   //左电机往前走
  58   1      }
  59          
  60          
  61          void pwm_out_left_moto(void)
  62          {  
  63   1         if(Left_moto_stop)
  64   1         {
  65   2          if(pwm_val_left<=push_val_left)
  66   2               {
  67   3               Left_moto_pwm=1; 
  68   3               }
  69   2           else 
  70   2               {
  71   3                 Left_moto_pwm=0;
  72   3               }
  73   2          if(pwm_val_left>=20)
  74   2               pwm_val_left=0;
  75   2          }
  76   1         else    
  77   1                {
  78   2                 Left_moto_pwm=0;
  79   2                }
  80   1      }
  81          /******************************************************************/
  82          /*                    右电机调速                                  */  
  83             void pwm_out_right_moto(void)
  84          { 
  85   1        if(Right_moto_stop)
  86   1         {
  87   2          if(pwm_val_right<=push_val_right)
  88   2              {
  89   3               Right_moto_pwm=1;  
  90   3             }
  91   2        else 
  92   2              {
  93   3             Right_moto_pwm=0;
  94   3              }
  95   2        if(pwm_val_right>=20)
  96   2               pwm_val_right=0;
  97   2         }
  98   1         else    
  99   1              {
 100   2                 Right_moto_pwm=0;
 101   2              }
 102   1      }
 103                 
 104          void timer1()interrupt 3
 105          {
 106   1         TH1=0XFc;    //1Ms定时
 107   1         TL1=0X18;
 108   1         time1++;
 109   1      //   pwm_val_left++;
 110   1         pwm_val_right++;
 111   1      //   pwm_out_left_moto();
 112   1         pwm_out_right_moto();
 113   1      } 
 114          
 115          
 116          
 117          
 C51 COMPILER V9.56.0.0   PWM                                                               04/06/2022 22:23:01 PAGE 3   
 MODULE INFORMATION:   STATIC OVERLAYABLE
-   CODE SIZE        =    172    ----
+   CODE SIZE        =    112    ----
 C51 COMPILER V9.56.0.0   PWM                                                               04/08/2022 03:07:52 PAGE 2   
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
-   DATA SIZE        =      7    ----
+   DATA SIZE        =      3    ----
   IDATA SIZE       =   ----    ----
-   BIT SIZE         =      2    ----
+   BIT SIZE         =      1    ----
 END OF MODULE INFORMATION.
--- a/pwm.OBJ
+++ b/pwm.OBJ
--- a/pwm.c
+++ b/pwm.c
@ -1,89 +1,35 @@
 #include "pwm.h"
 unsigned char pwm_val_left  =0;//变量定义
 unsigned char push_val_left =0;// 左电机占空比N/20
 unsigned char pwm_val_right =0;
-unsigned char push_val_right=0;// 右电机占空比N/20
+unsigned char push_val_right=0;
 unsigned char pwm_left=0;
-bit Right_moto_stop=1;
+unsigned char pwm_value=0;
 bit Left_moto_stop =1;
-unsigned  int  time1=0;
+extern uint model;
 bit Right_moto_stop = 0;
 /************************************************************************/	
 //延时函数	
 void delay(unsigned int k)
 {    
   unsigned int x,y;
 	 for(x=0;x<k;x++) 
 	   for(y=0;y<2000;y++);
 }
 /************************************************************************/
 //前速前进
  void  run(void)
 {
   push_val_left=3;	 //速度调节变量 0-20。。。0最小，20最大
 	 push_val_right=pwm_left;
   Left_moto_go ;   //左电机往前走
 	 Right_moto_go ;  //右电机往前走
 }
- void  backrun(void)
+void run(void)
 {
   push_val_left=3;	 //速度调节变量 0-20。。。0最小，20最大
 	 push_val_right=4;
 	 Left_moto_back;   //左电机往前走
 	 Right_moto_back;  //右电机往前走
 }
 //左转
     void  leftrun(void)
 {	 
     push_val_left=0;
 	   push_val_right=4;
 	   Right_moto_go ;  //右电机往前走
 }
 //右转
 void  rightrun(void)
 {
-	  push_val_right=0;
+	if(model == 0) pwm_value = 0;
-	  push_val_left=4;
+	else if(model == 1) pwm_value = 2;
-    Left_moto_go  ;   //左电机往前走
+	else if(model == 2) pwm_value = 5;
 	else pwm_value = 10;
 	push_val_right=pwm_value;
 	Right_moto_back;
 }
 void pwm_out_left_moto(void)
 {  
   if(Left_moto_stop)
   {
    if(pwm_val_left<=push_val_left)
 	       {
 		     Left_moto_pwm=1; 
 		     }
 	   else 
 	       {
 	         Left_moto_pwm=0;
 		     }
 	  if(pwm_val_left>=20)
 	       pwm_val_left=0;
    }
   else    
          {
           Left_moto_pwm=0;
 		      }
 }
 /******************************************************************/
 /*                    右电机调速                                  */  
 void pwm_out_right_moto(void)
 { 
-  if(Right_moto_stop)
+	pwm_val_right++;
-   {
+	if(~Right_moto_stop){
 		if(pwm_val_right <= push_val_right)
 		{
 				Right_moto_pwm=1;  
@ -92,25 +38,13 @@ void pwm_out_left_moto(void)
 		{
 			Right_moto_pwm=0;
 		}
-	if(pwm_val_right>=20)
+		if(pwm_val_right>=20) pwm_val_right=0;
 	       pwm_val_right=0;
 	}
-   else    
+	else{
        {
 			Right_moto_pwm=0;
 	}
 }
 void timer1()interrupt 3
 {
   TH1=0XFc;	  //1Ms定时
 	 TL1=0X18;
 	 time1++;
 //	 pwm_val_left++;
 	 pwm_val_right++;
 //	 pwm_out_left_moto();
 	 pwm_out_right_moto();
 }	
--- a/pwm.h
+++ b/pwm.h
@ -15,26 +15,15 @@ void pwm_out_right_moto(void);
   //定义小车驱动模块输入IO口 
-sbit IN1=P0^4;
+sbit IN1=P1^0;
-sbit IN2=P0^5;
+sbit IN2=P1^1;
 sbit IN3=P0^6;
 sbit IN4=P0^7;
 sbit EN1=P3^4;
 sbit EN2=P3^5;
 sbit Left_moto_pwm=P3^5;	 //PWM信号端
 sbit Right_moto_pwm=P3^4;	 //PWM信号端
 #define Left_moto_go      {IN3=0,IN4=1;}  //左电机向前走
 #define Left_moto_back    {IN3=1,IN4=0;} 	//左边电机向后转
 #define Left_moto_Stop    {EN1=0;}         //左边电机停转                     
 #define Right_moto_go     {IN1=1,IN2=0;}	//右边电机向前走
 #define Right_moto_back   {IN1=0,IN2=1;}	//右边电机向后走
-#define Right_moto_Stop   {EN2=0;}      	//右边电机停转 
+#define Right_moto_Stop   {EN1=0;}      	//右边电机停转 
 #endif
		`@ -1 +0,0 @@`
			`"i2c.c" OPTIMIZE (8,SPEED) BROWSE DEBUG OBJECTEXTEND TABS (2)`