目前藍牙小車還在調試
#include <STC89C5xRC.H>
#define Left_moto2_pwm P0_4
#define Right_moto2_pwm P0_5
#define Left_moto_pwm P1_4
#define Right_moto_pwm P1_5
#define uchar unsigned char
#define uint unsigned int
sbit P0_4=P0^4;
sbit P0_5=P0^5;
sbit P1_4=P1^4;
sbit P1_5=P1^5;
sbit IN1 = P1^2;
sbit IN2 = P1^3;
sbit IN3 = P1^6;
sbit IN4 = P1^7;
sbit IN5 = P0^2;
sbit IN6 = P0^3;
sbit IN7 = P0^6;
sbit IN8 = P0^7;
bit Right_moto_stop=1;
bit Left_moto_stop =1;
unsigned int time=0;
int pwm=1;
#define left_motor_en EN1 = 1
#define left_motor_stops EN1 = 0
#define right_motor_en EN2 = 1
#define right_motor_stops EN2 = 0
#define left_motor2_en EN3 = 1
#define left_motor2_stops EN3 = 0
#define right_motor2_en EN4 = 1
#define right_motor2_stops EN4 = 0
#define left_motor_go IN1 = 0, IN2 = 1
#define left_motor_back IN1 = 1, IN2 = 0
#define right_motor_go IN3 = 1, IN4 = 0
#define right_motor_back IN3 = 0, IN4 = 1
#define left_motor2_go IN5 = 0, IN6 = 1
#define left_motor2_back IN5 = 1, IN6 = 0
#define right_motor2_go IN7 = 1, IN8 = 0
#define right_motor2_back IN7 = 0, IN8 = 1
unsigned char pwm_val_left =0;
unsigned char push_val_left =0;
unsigned char pwm_val_right =0;
unsigned char push_val_right=0;
void delay(uint z)
{
uint x,y;
for(x = z; x > 0; x--)
for(y = 114; y > 0 ; y--);
}
void UART_INIT()
{
SM0 = 0;
SM1 = 1;
REN = 1;
EA = 1;
ES = 1;
TMOD = 0x20;
TH1 = 0xfd;
TL1 = 0xfd;
TR1 = 1;
}
void run(void)
{
push_val_left =pwm;
push_val_right =pwm;
if(pwm==10) pwm=0;
if(pwm==0&&pwm<0) pwm=0;
}
void pwm_out_left_moto(void)
{
if(Left_moto_stop)
{
if(pwm_val_left<=push_val_left)
{ Left_moto_pwm=1;
Left_moto2_pwm=1; }
else
{ Left_moto_pwm=0;Left_moto2_pwm=0; }
if(pwm_val_left>=10)
pwm_val_left=0;
}
else { Left_moto_pwm=0;Left_moto2_pwm=0; }
}
void pwm_out_right_moto(void)
{
if(Right_moto_stop)
{
if(pwm_val_right<=push_val_right)
{ Right_moto_pwm=1;
Right_moto2_pwm=1; }
else
{Right_moto_pwm=0;
Right_moto2_pwm=0;}
if(pwm_val_right>=10)
pwm_val_right=0;
}
else {Right_moto_pwm=0;Right_moto2_pwm=0; }
}
void timer0()interrupt 1 using 2
{
TH0=0XF8;
TL0=0X30;
time++;
pwm_val_left++;
pwm_val_right++;
pwm_out_left_moto();
pwm_out_right_moto();
}
void forward()
{
ET0 = 1;
run();
left_motor_go;
right_motor_go;
left_motor2_go;
right_motor2_go;
}
void left_go()
{
ET0 = 1;
run();
left_motor_back;
right_motor_go;
left_motor2_back;
right_motor2_go;
delay(700);
forward();
}
void right_go()
{
ET0 = 1;
run();
delay(50);
right_motor_back;
left_motor_go;
right_motor2_back;
left_motor2_go;
delay(700);
forward();
}
void left()
{
ET0 = 1;
run();
delay(50);
right_motor_go;
left_motor_back;
right_motor2_go;
left_motor2_back;
}
void right()
{
ET0 = 1;
run();
left_motor_go;
right_motor_back;
left_motor2_go;
right_motor2_back;
}
void back()
{
ET0 = 1;
run();
left_motor_back;
right_motor_back;
left_motor2_back;
right_motor2_back;
}
void stop()
{
ET0 = 0;
P1=0;
P0=0;
}
void UART_SER() interrupt 4
{
if(RI)
{
RI = 0;
switch(SBUF)
{
case 'g': forward(); break;
case 'b': back(); break;
case 'l': left(); break;
case 'r': right(); break;
case 's': stop(); break;
case 'z': left_go(); break;
case 'y': right_go(); break;
case 'p': pwm++;break;
case 'c': pwm--;break;
}
}
}
void main()
{
TMOD=0X01;
TH0= 0XF8;
TL0= 0X30;
TR0= 1;
ET0= 1;
EA = 1;
UART_INIT();
while(1);
}
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