这段程序是在mega16芯片下编译的，利用超声波模块检测距离，距离计算公式可能根据不同超声波模块不一样，下载者需重新整定。-This program is compiled under the mega16 chips, modules using ultrasonic detection distance, distance calculation formula may be different according to different ultrasonic module, are required to re-download the entire set.