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手把手教你做蓝牙小车

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看花开花落

发布时间: 2014-8-7 12:57

正文摘要:

前些日子一直在看鸿哥的程序感觉光看也只是纸上谈兵，所以想通过做小车的方式深入的体会一下鸿哥的程序。想学习鸿哥的程序的可点击下面的连接（连载中...）从业将近十年！手把手教你单片机程序框架。废话少说先上 ...

yongxiang6091 发表于 2014-9-29 21:01:16

谢谢楼主分享！！！

ymcdzh12 发表于 2014-9-9 08:28:27

不错啊！给个赞........

韩原123456 发表于 2014-8-10 23:03:44

顶，威武，谢楼主，学习了

电子王子 发表于 2014-8-9 13:43:26

太好了，实在是太好了。

小小 发表于 2014-8-8 15:20:25

看花开花落发表于 2014-8-7 13:02
额。。。。。。为什么代码没有全部传上去
再加一次吧

感谢楼主分享。楼主威武。

小小 发表于 2014-8-8 15:19:50

感谢楼主分享。楼主威武。

ligang 发表于 2014-8-8 13:23:29

好资料，感谢分享。

看花开花落 发表于 2014-8-7 13:02:02

额。。。。。。为什么代码没有全部传上去
再加一次吧

#include "reg51.h"
sbit PWM1 = P2^0;//右后轮电机驱动使能
sbit PWM2 = P2^1;//左后轮电机驱动使能
sbit PWM3 = P2^2;//右前轮电机驱动使能
sbit PWM4 = P2^3;//左前轮电机驱动使能
sbit motor_control_1 = P0^0;//右后轮后退
sbit motor_control_2 = P0^1;//右后轮前进
sbit motor_control_3 = P0^2;//左后轮后退
sbit motor_control_4 = P0^3;//左后轮前进
sbit motor_control_5 = P0^4;//右前轮后退
sbit motor_control_6 = P0^5;//右前轮前进
sbit motor_control_7 = P0^6;//左前轮后退
sbit motor_control_8 = P0^7;//左前轮前进
unsigned char ucBluetoothData = 230;//设置初始速度最大值为255最小为125
unsigned char ucLock = 0;//互斥量，俗称原子锁
unsigned int uiPWMCnt1 = 0;
unsigned int uiPWM1 = 230;
unsigned int uiPWMCnt2 = 0;
unsigned int uiPWM2 = 230;
unsigned int uiPWMCnt3 = 0;
unsigned int uiPWM3 = 230;
unsigned int uiPWMCnt4 = 0;
unsigned int uiPWM4 = 230;
unsigned char ucTempPWM;//设置中间变量
void initial_myself();
void initial_peripheral();
void T0_time();
void usart_service(void);
//void usart_send(unsigned char ucSendData);
void delay_long(unsigned int uiDelayLong);
void go_forward(void);//前进
void fall_back(void);//后退
turn_left(void);//左转
void turn_right(void);//右转
void stop();//刹车
void main()
{
initial_myself();
delay_long(100);
initial_peripheral();
while(1)
{
usart_service();
// delay_long(500);
}
}
//串口服务函数
void usart_service()
{
switch(ucBluetoothData)
{
case 0x04://前进
ucBluetoothData = 0x02;//避免一直触发
go_forward();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
case 0x05://左转
ucBluetoothData = 0x02;//避免一直触发
turn_left();
ucLock = 1;
uiPWM2 = uiPWM4= ucTempPWM / 4;
uiPWM3 =uiPWM1 = ucTempPWM;
ucLock = 0;
break;
case 0x06://右转
ucBluetoothData = 0x02;//避免一直触发
turn_right();
ucLock = 1;
uiPWM2 = uiPWM4 = ucTempPWM;
uiPWM3 =uiPWM1 = ucTempPWM / 4;
ucLock = 0;
break;
case 0x07://后退
ucBluetoothData = 0x02;//避免一直触发
fall_back();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
case 0x01:
ucBluetoothData = 0x02;//避免一直触发
stop();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
case 0x00:
ucBluetoothData = 0x02;//避免一直触发
stop();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
default :
break;
}
delay_long(100);
// usart_send(ucBluetoothData);
//速度调节的数据
if(ucBluetoothData!=0x00&&ucBluetoothData!=0x01 && ucBluetoothData!=0x02 && ucBluetoothData!=0x04 && ucBluetoothData!=0x05 && ucBluetoothData!=0x06 && ucBluetoothData!=0x07)
{
ucLock = 1;
ucTempPWM = uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucBluetoothData;
ucLock = 0;
}
}
void T0_time() interrupt 1
{
TF0 = 0;//清除中断标志
TR0 = 0;//关定时器
uiPWMCnt1 ++;
uiPWMCnt2 ++;
uiPWMCnt3 ++;
uiPWMCnt4 ++;
if(ucLock == 0)
{
if(uiPWMCnt1 > 255)
{
uiPWMCnt1 = 0;
}
if(uiPWMCnt1 < uiPWM1)
{
PWM1 = 1;
}
else
{
PWM1 = 0;
}
if(uiPWMCnt2 > 255)
{
uiPWMCnt2 = 0;
}
if(uiPWMCnt2 < uiPWM2)
{
PWM2 = 1;
}
else
{
PWM2 = 0;
}
if(uiPWMCnt3 > 255)
{
uiPWMCnt3 = 0;
}
if(uiPWMCnt3 < uiPWM3)
{
PWM3 = 1;
}
else
{
PWM3 = 0;
}
if(uiPWMCnt4 > 255)
{
uiPWMCnt4 = 0;
}
if(uiPWMCnt4 < uiPWM4)
{
PWM4 = 1;
}
else
{
PWM4 = 0;
}
}
TH0 = 0xff;
TL0 = 0x28;
TR0 = 1;///开定时器
}
void initial_myself()
{
TMOD = 0x01;//设置定时器0为工作方式1
TH0 = 0xff;
TL0 = 0x28;
//配置串口
SCON = 0x50;
TMOD = 0x21;
TH1 = TL1 = -(11095200L/12/32/9600);
IP = 0x10;
stop();
PWM1 = 1;
PWM2 = 1;
PWM3 = 1;
PWM4 = 1;
}
void initial_peripheral()
{
EA = 1;//开总中断
ES = 1;//允许串口中断
ET0 = 1;//允许定时器中断
TR0 = 1;//启动定时器
TR1 = 1;//
}
void usart_receive(void) interrupt 4
{
if(RI == 1)
{
RI = 0;
ucBluetoothData = SBUF;
// uiSendCnt = 0;
}
else
{
TI = 0;
}
}
//void usart_send(unsigned char ucSendData)
//{
// ES = 0;
// TI = 0;
// SBUF = ucSendData;
// TI = 0;
// ES = 1;
//
//}
void delay_long(unsigned int uiDelayLong)
{
unsigned int i;
unsigned int j;
for(i = 0 ; i < uiDelayLong ; i++)
{
for(j = 0; j < 500; j++);
}
}
void stop()//停止
{
motor_control_1 = 0;
motor_control_2 = 0;
motor_control_3 = 0;
motor_control_4 = 0;
motor_control_5 = 0;
motor_control_6 = 0;
motor_control_7 = 0;
motor_control_8 = 0;
}
void fall_back()
{
motor_control_1 = 1;
motor_control_2 = 0;
motor_control_3 = 1;
motor_control_4 = 0;
motor_control_5 = 1;
motor_control_6 = 0;
motor_control_7 = 1;
motor_control_8 = 0;
}
void go_forward()
{
motor_control_1 = 0;
motor_control_2 = 1;
motor_control_3 = 0;
motor_control_4 = 1;
motor_control_5 = 0;
motor_control_6 = 1;
motor_control_7 = 0;
motor_control_8 = 1;
}
void turn_left()//左转
{
motor_control_1 = 0;
motor_control_2 = 1;
motor_control_3 = 0;
motor_control_4 = 1;
motor_control_5 = 0;
motor_control_6 = 1;
motor_control_7 = 0;
motor_control_8 = 1;
}
void turn_right()//右转
{
motor_control_1 = 0;
motor_control_2 = 1;
motor_control_3 = 0;
motor_control_4 = 1;
motor_control_5 = 0;
motor_control_6 = 1;
motor_control_7 = 0;
motor_control_8 = 1;
}

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手把手教你做蓝牙小车

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