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1、附：程序清单;PCONEQU87H;***********LCM103LCM101TEST*************;MCS-51:89C2051,89C51,89C52;fo=2.45MHz;/CS=P1.4/WR=P1.3DATA=P1.2*************;RAM20H:COMMANDCODE********************;RAM21H:LCDADDR***;RAM25H:LCDDATA***ORG0000HAJMPMAINORG000BHAJMPwtoORG0013HAJMP
2、PINT1ORG0030HMAIN:;ACALLSTOPCLRP3.0MOVP2,#0F0Hacallqlacallstart;ACALLDELAY;ACALLLLL;ACALLRDNBYT;MOV31H,41H;MOV32H,42H;MOV33H,43H;MOV2FH,#08H;ACALLWRNBYT;ACALLDELAY1;ACALLSTARTmain2:MOVSP,#5FHMOVTMOD,#52HMOVTL0,#06HMOVTH0,#06HMOVIE,#82HSETBIT1MAIN3:ACALL
3、KEY1;按键控制，前进，清零，翻页;============CLRP2.0SETBP2.1ACALLCHUAN1ZHI:MOVA,TL1;直道行驶CLRCSUBBA,#30;230=S=(TH1,TL1)*14/6JNCWANACALLKUAIAJMPZHI;===========================;弯道行驶;=============================WAN:SETB20H.2;弯道标志位;CLRP2.3;SETBP2.2CLRP2.1SETBP2.0MOV5DH,#0
4、2HDJNZ5DH,$CLRP2.0SETBP2.1ACALLMAN;到达弯道JB20H.3,ZHANGajmpwan;====================;障碍物行驶;===================ZHANG:mov20h,#00hclrp2.3setbp2.2CLRP2.1SETBP2.0MOV5EH,#50S50:MOV5DH,#0FFHDJNZ5DH,$DJNZ5EH,S50CLRP2.0SETBP3.0mov3fh,#05;定时器5秒程序ffdd:jnb20h.0,$clr20h
5、.0CPLP3.0djnz3fh,FFDD27clrp2.3SETBp2.2clrp2.0setbp2.1setbEX1;启用/INT1MOV5BH,#0FFHDTDT:MOV5AH,#0FFHDJNZ5AH,$DJNZ5BH,DTDTOK:mOVA,P0ANLA,#7FHcjnea,#7FH,K2LZGAJMPSTOP2k2lzg:JBP2.6,KKLZGACALLLZHUANAJMPOKKKLZG:ACALLRZHUANAJMPOKSTOP2:MOVP2,#00HMOVIE,#00Hsetbp3.
6、0clrtr0CLRP2.1setbp2.0ACALLDELAY1ACALLDELAY1ACALLDELAY1nopCLRP2.0CLRP3.0LKLK:ACALLAAAACALLKEY1ACALLAAAAJMPLKLKSJMP$;======================;外部中断1;=====================PINT1:CLREX1PUSHACCPUSHPSWQQ:CLRP2.0;前CPLP2.1CLRP2.3SETBP2.2SETBP2.1NOPNOPJNBP3.3,QQSET
7、BP2.1SETBEX1POPPSWPOPACCRETI;=====================;慢速前进;======================MAN:CLRP2.0;前进SETBP2.1MOV5AH,#01HCHU11:JB20H.3,OUTI2ACALLCHUAN2CLRP2.1;SETBP2.0ACALLCHUAN2CLRP2.0SETBP2.1ACALLCHUAN2DJNZ5AH,CHU11CLRP2.1;停MOV5BH,#9FHCHU12:JB20H.3,OUTICPLP2.1A
8、CALLCHUAN2DJNZ5BH,CHU12CLRP2.0SETBP2.1NOPNOPNOPNOPouti2:RET;============================;快速前进;==========================KUAI:CLRP2.0;前进SETBP2.1MOV5AH,#01H27CHU1:JB20H.3,OUTIACALLCHUAN2DJNZ5AH,CHU1CLRP2.1;停MOV5BH,#0FFHCHU2:JB20H.3
