智能小车源代码(12页).doc
-#include<reg51.H>#include <intrins.h>/#include"lcd.h"sbit TX=P27;sbit RX=P26;sbit PWM=P14;sbit Beep=P37;sbit led1=P33;sbit led2=P34;sbit led3=P35;/*蓝牙切换按键*/sbit k1=P36;/*自定义一些数据，注意这些数据对应“51智能车蓝牙无线遥控.exe”软件上的数据设置*/#define leftdata 0x11#define rightdata 0x22#define forwarddata 0x33#define backdata 0x44#define stopdata 0x55#define uchar unsigned char#define uint unsigned intunsigned char receiveData,high_velosity,low_velosity; void UsartConfiguration();/*电机端口定义*/sbit IN1=P10; /为高电平时，左电机后转 sbit IN2=P11; /为高电平时，左电机正转sbit IN3=P12; /为高电平时，右电机正转sbit IN4=P13; /为高电平时，右电机后转/*无线遥控模块定义*/sbit Key_A = P20; /B键信号端 对应D0sbit Key_B = P21;/D键信号端 对应D1sbit Key_C = P22;/C键信号端 对应D2sbit Key_D = P23;/C键信号端void delay0(int a);void delay15us(void);void delay1ms(int z);void di(); /蜂鸣器函数声明unsigned int time;/用于存放定时器时间值unsigned int S; /用于存放距离的值char flag =0; /量程溢出标志位char f1,f2,f3,f4,n0;int a;int n;/运行次数判断标志int s_left,s_right; void Delay10us(unsigned char i) unsigned char j; do j = 10; do _nop_(); while(-j); while(-i); /*/ /*电机程序*/*/void loop() IN1=1;/左电机 IN2=0; IN3=1;/右电机 IN4=0;void runfront() IN1=1;/左电机 IN2=0; IN3=0;/右电机 IN4=1;/小车后退函数void runback() IN1=0;/左电机 IN2=1; IN3=1;/右电机 IN4=0;/小车左转void runleft() IN1=0;/左电机 IN2=0; IN3=0;/右电机 IN4=1;/小车右转void runright() IN1=1;/左电机 IN2=0; IN3=0;/右电机 IN4=0;/小车左后转/void runbackleft()/ IN1=0;/左电机/ IN2=0;/ IN3=0;/右电机/ IN4=1;/小车右后转/void runbackright()/ IN1=1;/左电机/ IN2=0;/ IN3=0;/右电机/ IN4=0;/小车停止函数void stop() IN1=0;/左电机 IN2=0; IN3=0;/右电机 IN4=0;/*/ /*蓝牙程序*/*/void delay(unsigned int a) unsigned int b; for(;a>0;a-) for(b=3;b>0;b-);/左电机转void left_motor_runfront(unsigned int a) IN1=1;/左电机 IN2=0; delay(a); IN1=0; IN2=0; delay(100-a); void right_motor_runfront(unsigned int a) IN3=0;/右电机 IN4=1; delay(a); IN3=0; IN4=0; delay(100-a); void left_motor_back(unsigned int a) IN1=0;/左电机 IN2=1; delay(a); IN1=0; IN2=0; delay(100-a); void right_motor_back(unsigned int a) IN3=1;/右电机 IN4=0; delay(a); IN3=0; IN4=0; delay(100-a); void left_motor_stop() IN1=0;/左电机 IN2=0; void right_motor_stop() IN3=0;/左电机 IN4=0; /PWM调速void PWM_RUNFRONT(unsigned int a,unsigned int b)/a属于0100 left_motor_runfront(a); right_motor_runfront(b);void PWM_RUNBACK(unsigned int a,unsigned int b)/a属于0100 left_motor_back(a); right_motor_back(b); void PWM_RUNLEFT(unsigned int a)/a属于0100 right_motor_runfront(a); left_motor_stop(); void PWM_RUNRIGHT(unsigned int a)/a属于0100 right_motor_stop(); left_motor_runfront(a); void bluestop() left_motor_stop() ; right_motor_stop() ; void UsartConfiguration()SCON=0X50;/设置为工作方式1TMOD=TMOD|0x21;/设置计数器工作方式2PCON=0X80;/波特率加倍TH1=0XFA;/计数器初始值设置，注意波特率是4800的TL1=0XFA;ES=1;/打开接收中断EA=1;/打开总中断TR1=1; TH0=0; TL0=0; ET0=1;/打开计数器/* 函数名 :Delay(unsigned int i)* 函数功能 : 延时函数* 输入 : 无* 输出 : 无*/void Usart() interrupt 4receiveData=SBUF;/出去接收到的数据RI = 0;/清除接收中断标志位if(receiveData=0x66) low_velosity=1; high_velosity=0;/ write_com(0x80); if(receiveData=0x77) low_velosity=0; high_velosity=1; /*/ /*舵机程序*/*/void delayx(int t) char j;for(;t>0;t-)for(j=19;j>0;j-);void degree0()int i;for(i=0;i<10;i+)PWM=1;delayx(10);/1msPWM=0;delayx(390);/19msvoid degree90()int i;for(i=0;i<10;i+)PWM=1;delayx(24);/50PWM=0;delayx(376);/18.5msvoid degree180()int i;for(i=0;i<15;i+)PWM=1;delayx(40);/1.5msPWM=0; delayx(360);/18.5ms/*/ /*超声波程序*/*/*A键被按下后,前进*/void Count1(void)time=TH1*256+TL1;TH1=0;TL1=0; S=(time*1.7)/100; n+; if(S<=30&&n=1) led1=0; stop(); degree0();di(); if(S>30&&n=1) led1=1; runfront();n=0; if(n=2) s_left=S;degree180();di(); if(n=3) s_right=S;degree90();di();n=0; /标志位清零if(s_left>s_right)led2=1;delay1ms(50);led2=0;delay1ms(50);runright();delayx(1250); else led3=1;delay(800);led3=0;delay(500); runleft();delayx(1250); /*超声波高电平脉冲宽度计算程序*/void Timer_Count(void)TR1=1; /开启计数while(RX);/当RX为1计数并等待TR1=0;/关闭计数 /Count1();/计算/*/void StartModule() /启动模块TX=1; /启动一次模块 Delay10us(2);TX=0;/*/ /*主程序*/*/void main(void)UsartConfiguration(); while(1) if(k1=0&&n0=0)delay1ms(20);if(k1=0)n0+; else if(k1=0&&n0=1)delay1ms(20);if(k1=0)n0-; if(n0=0)if(Key_B=0&&Key_D=0&&Key_C=0&&Key_A=1)/A键被按下f1=1;f2=0;f3=0;f4=0;di();else if(Key_A=0&&Key_D=0&&Key_B=1&&Key_C=0)/B键被按下f1=0;f2=1;f3=0;f4=0;di();else if(Key_B=0&&Key_D=0&&Key_A=0&&Key_C=1)/C键被按下 f1=0;f2=0;f3=1;f4=0;di();else if(Key_D=1&&Key_B=0&&Key_A=0&&Key_C=0)/D键被按下f1=0;f2=0;f3=0;f4=1;di();if(f1)StartModule();for(a=951;a>0;a-) if(RX=1) Timer_Count();Count1(); if(f2) runback();if(f3) loop();if(f4) stop(); if(n0=1) if(low_velosity) switch(receiveData) case leftdata: PWM_RUNLEFT(30); break; case rightdata: PWM_RUNRIGHT(30); break; case forwarddata: PWM_RUNFRONT(64,70); break; case backdata: PWM_RUNBACK(64,70); break; case stopdata: bluestop(); break; if(high_velosity) switch(receiveData) case leftdata: PWM_RUNLEFT(50); break; case rightdata: PWM_RUNRIGHT(50); break; case forwarddata: PWM_RUNFRONT(94,100); break; case backdata: PWM_RUNBACK(94,100); break; case stopdata: stop(); break; /*蜂鸣器*/void di()int i;for(i=0;i<150;i+) Beep= 1; delay0(20); Beep=0;void delay0(int a) char j;int i; for(i=a; i > 0; i-) for(j = 200; j > 0; j-);void delay1ms(int z)/延时1msint x,y;for(x=z;x>0;x-)for(y=110;y>0;y-);-第 12 页-
