智能藍牙小車程序:
#include <reg52.H>
#include <intrins.H>
#include <math.H>
#define uchar unsigned char
#define uint unsigned int
//**************************端口定義函數***************************/
sbit RS = P0^5;
sbit rw=P0^6;
sbit EN = P0^7;
sbit a1=P0^0;
sbit a2=P0^1;
sbit a3=P0^2;
sbit a4=P0^3;
sbit ds=P3^7;
uchar a;//接收藍牙發送的數據
//**********************2驅小車前進定義函數***********************/
void go()//前進
{ a1=1;//左前
a2=0;
a3=1;//左后
a4=0;
}
//**********************兩驅小車前進定義函數***********************/
void back()//后退
{ a1=0;
a2=1;
a3=0;
a4=1;
}
void right()//右轉
{ a1=0;//
a2=1;
a3=1;//
a4=0;
}
void left()//左轉
{ a1=1;
a2=0;
a3=0;
a4=1;
}
void stop()//停止
{ a1=0;
a2=0;
a3=0;
a4=0;
}
void delayus()
{ _nop_();
}
void delayms(uint a)
{ uint ii, jj;
for(ii=a; ii>0;ii--)
for(jj=100;jj>0;jj--);
}
//*******************LCD1602液晶顯示函數部分**********************/
void writeComm(uchar comm)
{ RS = 0;
P2 = comm;
EN = 1;
delayus();
EN = 0;
delayms(1);
}
//寫數據:RS=1, RW=0;
void writeData(uchar dat)
{ RS = 1;
P2 = dat;
EN = 1;
delayus();
EN = 0;
delayms(1);
}
void init()
{ rw=0;
writeComm(0x38);
writeComm(0x0c);
writeComm(0x06);
writeComm(0x01);
}
void writeString(uchar * str, uchar length)
{
uchar tt;
for(tt = 0; tt < length; tt++)
{ writeData(str[tt]);
}
}
//**********************DS18B20函數部分************************/
void dsInit()
{ unsigned int tt;
ds = 0;
tt = 100;
while(tt>0) tt--;
ds = 1;
tt= 4;
while(tt>0) tt--;
}
void dsWait()
{ unsigned int ii;
while(ds);
while(~ds);
ii = 4;
while(ii> 0) ii--;
}
bit readBit()
{ unsigned int ii;
bit b;
ds = 0;
ii++;
ds = 1;
ii++; ii++;
b = ds;
ii = 8;
while(ii>0) ii--;
return b;
}
unsigned char readByte()
{ unsigned int i;
unsigned char j, dat;
dat = 0;
for(i=0; i<8; i++)
{ j=readBit();
dat=(j << 7)|(dat>>1);
}
return dat;
}
void writeByte(unsigned char dat)
{ unsigned int ii;
unsigned char jj;
bit mm;
for(jj = 0; jj < 8; jj++)
{ mm = dat & 0x01;
dat >>= 1;
if(mm)
{ ds = 0; ii++; ii++;
ds = 1;
ii = 8; while(ii>0) ii--;
}
else
{ ds = 0;
ii = 8; while(ii>0) ii--;
ds = 1;
ii++; ii++;
}
}
}
void sendChangeCmd()
{ dsInit();
dsWait();
delayms(1);
writeByte(0xcc);
writeByte(0x44);
}
void sendReadCmd()
{ dsInit();
dsWait();
delayms(1);
writeByte(0xcc);
writeByte(0xbe);
}
int getTmpValue()
{ unsigned int tmpvalue;
int value;
float t;
unsigned char low, high;
sendReadCmd();
low = readByte();
high = readByte();
tmpvalue = high;
tmpvalue <<= 8;
tmpvalue |= low;
value = tmpvalue;
t = value * 0.0625;
value = t * 100 + (value > 0 ? 0.5 : -0.5); //大于0加0.5, 小于0減0.5
return value;
}
void display(int v)
{
unsigned char count;
unsigned char shuju[] = {0, 0, 0, 0, 0};
unsigned int temp = abs(v);
shuju[0] = temp / 10000;
shuju[1] = temp % 10000 / 1000;
shuju[2] = temp% 1000 / 100;
shuju[3] = temp% 100 / 10;
shuju[4] = temp% 10;
writeComm(0x80+8);
if(v < 0)
{
writeString("- ", 2);
}
else
{
writeString("+ ", 2);
}
if(shuju[0] != 0)
{
writeData('0'+shuju[0]);
}
for(count = 1; count != 5; count++)
{
writeData('0'+shuju[count]);
if(count == 2)
{
writeData('.');
}
}
}
//*********************DS18B20函數結束**************************/
void main()
{
uchar table[] = "OK Temp:";
sendChangeCmd();
init();
writeComm(0x80);
writeString(table, 8);
//串口通信初始化
TMOD=0x20;//定時器1工作方式2，8位自動重裝
TH1=0xFd; //11.0592M晶振，9600波特率
TL1=0xFd;
SCON=0x50;//串口方式1
PCON=0x00;//SMOD=0
TR1=1;//開啟定時器1
ES=1;//開串口中斷
EA=1;//開總中斷
while(1)
{
delayms(1000); //溫度轉換時間需要在750ms以上
// writeComm(0xc0);
writeComm(0x80);
display(getTmpValue());
sendChangeCmd();
if(a=='A') go();//前進
else if(a=='B') back();//后退
else if(a=='C') left();//左轉
else if(a=='D') right();//右轉
else stop();//停止
}
}
void chuankou()interrupt 4//中斷函數
{
RI=0;//清0
a=SBUF;
}
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