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基于51单片机，避障，低于50CM报警，LED灯亮起，自动翻晒用光敏电阻，光照强度大，电机转动，相当于翻晒粮食，远程控制用按键代替，按下去电机就转动，相当于翻晒粮食，然后光照强度和超声波的距离都在LCD1602显示屏显示出来。

基于KEIL5编写C++代码，PROTEUS8.15进行仿真，全部资源在页尾，提供安装包。

1、51单片机

2、超声波传感器

3、光照传感器

4、ADC0832数模转换器

5、L298N驱动电机模块

6、LCD1602显示模块

7、灯光报警模块

8、按键模块

仿真图：

编辑

/*所有代码资源看页尾*/
#include <REGX52.H>
#include<intrins.h>
#include<stdio.h>
#include "Delay.h"
#include "LCD1602.h"
#define uchar unsigned char
#define uint unsigned  int
typedef unsigned char u8;
typedef unsigned int  u16;
typedef unsigned char uint8;
typedef unsigned int uint16;
typedef unsigned long uint32;
sbit CS=P1^0;        //51单片机引脚设置
sbit CLK=P1^1;
sbit DIO=P1^2;
sbit Motor1_IN1 = P3^3;	      //电机IN1口
sbit Motor1_IN2 = P3^4;
sbit Motor1_EN =  P3^2;       //电机使能端1sbit Motor2_IN1 = P3^5;	      //电机IN1口
sbit Motor2_IN2 = P3^6;
sbit Motor2_EN =  P3^7;       //电机使能端2sbit LED =  P1^5;  //LED灯定义
sbit key =  P1^4;
sbit key1 = P1^6;
sbit BEEP = P1^3;sbit Tr=P3^0;//触发信号
sbit Ec=P3^1;//回响信号
uchar Recv_Buffer\[4\];
uint Voltage\[\]={'0','0','0','0'};
bit bdata IIC_ERROR;unsigned char count;
unsigned int distance;
static uint temp;
uint temp;
static unsigned char num;
static int flag = 0, flag1 = 0;
unsigned int Read_value(void);//读值函数void Delay10us(void);//10us延时函数void Time0_Init()          //定时器初始化
{TMOD = 0x01;TH0 = 0x00;TL0 = 0x00;TR0 = 0;//先关闭定时器0
}void Time0_Int() interrupt 1 //中断程序
{TH0  = 0xfe;             //重新赋值TL0  = 0x33;
}uchar get\_AD\_Res()          //ADC0832启动读取函数
{uchar i, data1=0, data2=0;CS=0;CLK=0;DIO=1;\_nop\_();CLK=1;\_nop\_();CLK=0;DIO=1;\_nop\_(); CLK=1;\_nop\_();CLK=0;DIO=0;\_nop\_();CLK=1;\_nop\_();CLK=0;DIO=1;\_nop\_(); for(i=0; i<8; i++){CLK=1;\_nop\_();CLK=0;\_nop\_();data1=(data1<<1)|(uchar)DIO; }for(i=0; i<8; i++){data2=data2|(uchar)DIO<<i;CLK=1;\_nop\_();CLK=0;\_nop\_();}CS=1;return(data1 == data2)?data1:0;
}
unsigned int Read_value()
{uint result;Tr=1;//触发引脚发出11us的触发信号（至少10us）Delay10us();Tr=0;while(!Ec);//度过回响信号的低电平TR0=1;//开启定时器0while(Ec);//度过回响信号高电平TR0=0;//关闭定时器0result=((TH0\*256+TL0)\*0.034)/2;		// 距离cm=（时间us * 速度cm/us）/2return result + 2;	//+2修正补偿	
}void main()					  //主函数
{	uchar u;Tr=0;               //出发引脚首先拉低LCD_Init();         //显示屏初始化LCD_ShowString(1,1,"Distance:"); //显示字符串DistanceLCD_ShowString(2,1,"GZQD:");     //显示字符串GZQD 光照强度Time0_Init();	   //定时初始化Motor2_EN = 1;	   //顺时针Motor2_IN1 = 1;Motor2_IN2 = 0;LED = 0;BEEP = 0;while(1){u=get\_AD\_Res();        //读取光照强度distance = Read_value();//读值distance-=1;LCD_ShowNum(1,10,distance,3); //显示距离LCD_ShowNum(2,6,u,3);         //显示光照强度if( (distance>=50) && (distance<= 100)){Motor2_EN = 1;		   //逆时针Motor2_IN1 = 0;Motor2_IN2 = 1;LED  = 0; 	 //LED灯熄灭BEEP = 0;	 //蜂鸣器关掉}else if(distance < 50)	  //超声波距离判断{LED  = 1;   //LED灯亮起BEEP = 1;   //蜂鸣器响起}else if(distance > 100){Motor2_EN = 1;	    //顺时针Motor2_IN1 = 1;Motor2_IN2 = 0;}if(u > 80) //光照强度判断{flag = 1;}else {flag = 0;}if(key == 0){Delay(100); //消除抖动if(key == 0){flag1 = 1;}}if(key1 == 0){Delay(100);//消除抖动if(key1 == 0){flag1 = 0;}}if(flag == 1){Motor1_EN = 1;  //电机端使能Motor1_IN1 = 1; //给IN1口赋值高电平Motor1_IN2 = 0; //给IN2口赋值低电平，形成顺时针转动}else if(flag1 == 1){Motor1_EN = 1;  //电机端使能Motor1_IN1 = 1; //给IN1口赋值高电平Motor1_IN2 = 0; //给IN2口赋值低电平，形成顺时针转动}else{Motor1_EN  = 0;Motor1_IN1 = 0;Motor1_IN2 = 0;}}}void Delay10us()
{TL0=0xF5;TH0=0xFF;TR0=1;while (TF0==0);TR0=0;TF0=0;
}

具体动态效果看B站演示视频：

基于51单片机的太阳能自动谷物翻晒机器人控制系统_哔哩哔哩_bilibili

全部资料（源程序、仿真文件、安装包、演示视频）：

链接：https://pan.baidu.com/s/1Ewj05XL8mORAxrL9C3kejA 
提取码：w4e9 
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