if(KEY_CONTROL_MODE==0) { }

if(KEY_UP==0) { }

if(KEY_DOWN==0) {

delay(20);

if(KEY_CONTROL_MODE==0) { }

while(KEY_CONTROL_MODE==0); delay(20);

while(KEY_CONTROL_MODE==0);

CONTROL_MODE_FLAG=0; play(0,2,dis1);显示重力模式

delay(20); if(KEY_UP==0) { }

while(KEY_UP==0); delay(20);

while(KEY_UP==0);

CONTROL_MODE_FLAG=2; play(0,2,dis3);显示循迹模式

delay(20);

if(KEY_DOWN==0) {

21

}

}

CONTROL_MODE_FLAG=3; play(0,2,dis4);显示避障模式

while(KEY_DOWN==0); delay(20);

while(KEY_DOWN==0);

break;

case 2:

if(KEY_CONTROL_MODE==0) { }

delay(20);

if(KEY_CONTROL_MODE==0) { }

while(KEY_CONTROL_MODE==0); delay(20);

while(KEY_CONTROL_MODE==0);

CONTROL_MODE_FLAG=0; play(0,2,dis1);显示按键模式

break;

case 3:

if(KEY_CONTROL_MODE==0) {

delay(20);

if(KEY_CONTROL_MODE==0)

22

}

{ }

while(KEY_CONTROL_MODE==0); delay(20);

while(KEY_CONTROL_MODE==0);

CONTROL_MODE_FLAG=0; play(0,2,dis1);显示按键模式

}

break;

***************液晶背光控制**********

if(aa%5==0) {

if(BACK_LED_FLAG) { }

if(IR_LED==0){ BACK_LED_FLAG=1;bb=0;BACK_LED=1; }

bb++;

if(bb==400){ BACK_LED_FLAG=0;bb=0;BACK_LED=0; }

********************************* }

void timer() interrupt 1

23 }

}

{ }

TH0=(65535-50000)256; TL0=(65535-50000)%6; aa++;

if(aa==20) { aa=0; lcd_pos(1,5); lcd_wdat(30); lcd_pos(2,4); lcd_wdat(17); lcd_pos(2,6); lcd_wdat(16); lcd_pos(3,5); lcd_wdat(31); }

文件二< init.);

void init_NRF24L01(void); uint SPI_RW(uint uchar);

uint SPI_RW_Reg(uchar reg, uchar value);

uint SPI_Write_Buf(uchar reg, uchar *pBuf, uchar uchars); void nRF24L01_TxPacket(unsigned char * tx_buf);

sbit SCL=P1^0;

IIC时钟引脚定义

24