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在綜合考量了單片機的使用性能、成本和時間等問題，本次課題主要旨在實現以下性能指標： 1）根據力學結構完成小車整體框架的搭建，穩固其整體重心； 2）完成底層運動系統的搭建，保證小車能夠正常行進； 3）完成手機遙控功能，通過手機控制底層小車的工作方式。 整體小車車身采用學校提供基本車身框架材料，通過自己的設計和搭建，完成底層硬件系統的搭載，再通過上層安卓手機APP遙控，通過無線藍牙通信協議，實現小車能夠遵從指令實現在室內的自主避障的巡航功能與手機遙控功能 #include <reg52.h> sbit PWM1 = P2^0;//PWM波產生的端口 sbit PWM2 = P2^1; sbit motor_control_1 = P2^7;//左輪前進 sbit motor_control_2 = P2^6;//左輪后退 sbit motor_control_3 = P2^5;//右輪前進 sbit motor_control_4 = P2^4;//右輪后退 sbit LED0 = P0^0;//前燈 sbit LED1 = P0^1;//左后燈 sbit LED2 = P0^2;//右后燈 unsigned int PWMCnt1 = 0; unsigned int cntPWM1 = 60; unsigned int PWMCnt2 = 0; unsigned int cntPWM2 = 60; unsigned char bluetoothdata; void initial_myself(); void initial_interrupt(); void usart_service(void); void delay_long(unsigned int time); void go_forward(void);// void stop(); void turn_right(); void turn_left(); void back(); void main() { initial_myself(); delay_long(100); initial_interrupt(); stop(); while(1) { LED1=1;LED2=1; usart_service(); } } void usart_service() { switch(bluetoothdata) { case 'f':go_forward(); delay_long(100); SBUF = 'f';//返回數據到手機 bluetoothdata = 'a'; break; case 's':stop(); delay_long(100); SBUF = 's'; bluetoothdata = 'a'; break; case 'r':turn_right(); delay_long(100); SBUF = 'r'; bluetoothdata = 'a'; break; case 'l':turn_left(); delay_long(100); SBUF = 'l'; bluetoothdata = 'a'; break; case 'b':back(); delay_long(100); SBUF = 'b'; bluetoothdata = 'a'; break; case '1':cntPWM1 = 60; cntPWM2 = 60; delay_long(100); SBUF = '1'; bluetoothdata = 'a'; break; case '2':cntPWM1 = 100; cntPWM2 = 100; delay_long(100); SBUF = '2'; bluetoothdata = 'a'; break; case '3':cntPWM1 = 140; cntPWM2 = 140; delay_long(100); SBUF = '3'; bluetoothdata = 'a'; break; case '4':LED0=0; delay_long(100); SBUF = '4'; bluetoothdata = 'a'; break; case '5':LED0=1; delay_long(100); SBUF = '5'; bluetoothdata = 'a'; break; } } void usart_receive(void) interrupt 4 //串口中斷程序 { if(RI == 1)//收到字符 { RI = 0;//軟件清零 bluetoothdata = SBUF;//讀取數據 } if(TI == 1)//發送數據 { TI = 0;//清零 } } void T0_time() interrupt 1 //定時器0中斷程序 { PWMCnt1++; PWMCnt2++; if(PWMCnt1 >= 200) { PWMCnt1 = 1; } if(PWMCnt1 <= cntPWM1) //230 { PWM1 = 1; } else { PWM1 = 0; } if(PWMCnt2 >= 200) { PWMCnt2 = 1; } if(PWMCnt1 <= cntPWM2) //230 { PWM2 = 1; } else { PWM2 = 0; } TH0 = (65536 - 50) / 256; TL0 = (65536 - 50) % 256; } void initial_myself() { TMOD = 0x01;// TH0 = (65536 - 50) / 256;//定時50微秒 TL0 = (65536 - 50) % 256; SCON = 0x50; TMOD = 0x21; TH1 = TL1 = 0xfd;//設置波特率9600 IP = 0x10;//設置串口中斷為高優先級 } void initial_interrupt() { EA = 1;// 開總中斷 ES = 1;// 開串口中斷 ET0 = 1;//開定時器0中斷? TR0 = 1;//開定時器0 TR1 = 1;// 開定時器1 } void delay_long(unsigned int time) { unsigned int i; unsigned int j; for(i = 0 ; i < time ; i++) { for(j = 0; j < 500; j++); } } void go_forward() { motor_control_1 = 0; motor_control_2 = 1; motor_control_3 = 0; motor_control_4 = 1; } void stop() { motor_control_1 = 0; motor_control_2 = 0; motor_control_3 = 0; motor_control_4 = 0; } void turn_left() { int i=6000; for(;i>=0;i--) { if(i) { motor_control_1 = 0; motor_control_2 = 1; motor_control_3 = 0; motor_control_4 = 0; LED1=0; } else { motor_control_1 = 0; motor_control_2 = 0; motor_control_3 = 0; motor_control_4 = 0; } } LED1=1; } void turn_right() { int i=6000; for(;i>=0;i--) { if(i) { motor_control_1 = 0; motor_control_2 = 0; motor_control_3 = 0; motor_control_4 = 1; LED2=1; } else { motor_control_1 = 0; motor_control_2 = 0; motor_control_3 = 0; motor_control_4 = 0; } } LED2=1; } void back() { motor_control_1 = 1; motor_control_2 = 0; motor_control_3 = 1; motor_control_4 = 0; LED1=0;LED2=0; }
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