C Code Explanation: Main Function with Timer, UART, and LCD Display

The main() function initializes the timer, UART, and LCD display. It sets the initial value of the speed scale to the current speed. It then enters an infinite loop where it continuously updates the LCD display and checks if the system time has exceeded 3 seconds. If the 'fire' flag is not set, it sets the 'beep' flag to 1. If the 'mode' is set to manual, it calls the Get_distance_Value() function to get the current distance value and sets the 'distance' flag to 0. It then sets the 'ms' value to 0 and checks if any key has been pressed. If a key has been pressed and the 'distance' flag is 0, it checks which key was pressed and calls the corresponding function ('Go()', 'Back()', 'Left()', 'Right()', or 'Stop()'). If the 'mode' is not set to manual, it calls the Tracing_dispose() function to handle tracing. Finally, it sends data through UART and repeats the loop.