智能小车源代码

1、#include Sinclude xe软件上的数据设置*/#define leftdata Oxlldefine rightdata 0x22define forwarddata 0x33#define backdata 0x44#define stopdata 0x55#define uchar unsigned char#define uint unsigned intunsigned char receiveData, high_velosity, low_velosity; void UsartConfigurationO ;/* 电机端 口 左义* * * * * */sbit i

2、xipro sbit IN2=PP1 sbit IN3 二P2sbit IN4 二P3/为髙电平时, /为高电平时, 为高电平时, /为髙电平时,左电机后转 左电机正转 右电机正转 右电机后转sbit Key.A = P20;/B键信号端对应D0sbit Key.B 二 P2l;/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 delayl5us(void);void delay1ms(int z);void di 0 ; /蜂鸣器函数声明unsigned int time;/

3、用于存放立时器时间值 unsigned int S;/用于存放距离的值char flag =0;/量程溢出标志位char fl, f2, f3, f4, nO;int a;int n;/运行次数判断标志 int s_left, s_right;void DelaylOus(unsigned char i) unsigned char j;doj = 10;do_nop_();while (j); while(-i);/*/ /* * * * * 电机程序* * * * * */*/void loopOIN1=1;/左电机IN2二0;IN3=1;/右电机IN4=0;void runfront 0

4、IN1=1;/左电机IN2二0;IN3二0;/右电机IN4=1;/小车后退函数 void runback()IN1=O;/左电机IN2=1;IN3=1;/右电机IN4=0;/小车左转void runleft()INI二0;/左电机IN2二0;IN3二0;/右电机IN4=1;/小车右转void runright 0IN1=1;/左电机IN2二0;IN3二0;/右电机IN4二0;/小车左后转/void runbackleft 0/ INI二0/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=

5、0/右电机/ IN4=0/小车停止函数void stopOiINI二0;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(;a0;a) for (b=3;b0;b);左电机转void left_motor_runfront(unsigned int a) INI二1;/左电机IN2=0; delay(a);INI二0;IN2=0; delay(100-a);void right_motor_runfront(unsigned int a)IN3=0;/右电机IN

6、4=1;delay(a);IN3=0;IN4=0;delay(100-a);void left_motor_back(unsigned int a)INI二0;/左电机IN2=1;delay(a);INI二0;IN2=0;delay(100-a);void right_motor_back(unsigned int a)IN3二1;/右电机IN4=0;delay(a);IN3=0;IN4=0;delay(100-a);void left_motor_stop()INI二0;左电机IN2=0;void right_motor_stop 0IN3二0;/左电机IN4=0;/PWM调速/a 属于 O

7、lOO/a 属于 OlOOvoid PWM_RUNFR0NT (unsigned int a, unsigned int b) left _mot or_runfront(a);r i ght_mot or_runfront(b);void PWM_RUNBACK(unsigned int a, unsigned int b)left_motor_back(a); right_motor_back(b);void PWM_RUNLEFT (unsigned int a)/a 属于 OlOOright_motor_runfront(a);left_motor_stop 0;void PWM_RU

8、NRIGHT (unsigned int a)/a 属于 OlOOright_motor_stop 0 ; left_motor_runfront(a);void bluestop 01e ft_mot or_s t op 0 ;r i ght_mot or_s t op 0 ;void UsartConfiguration0SC0N=0X50;TMODTMOD 0x21;PC0N=0X80;TH1=OXFA;TL1二OXFA;ES=1;EA=1;TR1=1;THO二0;TLO=O;ETO二1;设置为工作方式1/设置计数器工作方式2/波特率加倍/计数器初始值设置，注总波特率是4800的/打开接

9、收中断/打开总中断打开il数器/*客*函数名*函数功能*输入*输岀:Delay(unsigned int i) :延时函数:无:无*/void Usart() interrupt 4receiveData=SBUF; /出去接收到的数据 RI = 0；/淸除接收中断标志位 if(receiveData=0x66)low_velosity=l; high_velosity=0; write_com(0x80);if(receiveData=0x77)low_velosity=0; high_velosity=l;/*/* * *経*舵机程序 * * * */*/ void delayx(int

10、t)char j; for(;t0;t) for(j=19;j0;j);void degreeOOint i;for(i=0;i10;i+)PWM二1; delayx(lO);/lmsPWM二0;delayx(390) ;/19ms void degree90()int i;for(i=0;i10;i+)PWM二1;delayx(24);/50PWM二0;delayx(376) ;/void degreelSOOint i;for(i=0;i15;i+)PWM二1; delayx(40);/PWM二0; delayx(360);/*/* * * * 超声波程序 * * * */,*/*A键被按

11、下后，前进*/ void Countl(void)time=THl*256+TLl;TH1二0;TL1=O;S=(time*/100;n+;if(S30&n=l)ledl=l; runfront 0; n=0;if(n=2)s_left=S; degreel80();di();if(n=3)s_right=S;degree90();di();n二0;/标志位淸零if (s_lefts_right)led2=l;delaylms(50);led2=0;delaylms(50); runright 0;delayx(1250);elseled3=l;delay(800);led3=0;delay(

12、500); runleft 0;delayx(1250);/*超声波高电平脉冲宽度汁算程序経*/ void TimerCount(void)TR1=1; while(RX);TR1=O; /Count 10;/开启计数当RX为1 il数并等待关闭计数计算/*/void StartModule ()/启动模块/启动一次模块TX=1;DelaylOus (2);TX=0;/*/* _匸*/*/void main(void)UsartConf igurat ion 0; while(1)if(kl=0&n0=0)delay1ms(20);if(kl=0)nO卄；else if(kl=0&n0=l)

13、delay1ms(20); if(kl=O)nO-；if(n0=0)辻(Key_B=O&Key_D=二0&Key_C=0&Key_A=l)/A 键被按下 fl=l;f2=0;f3=0;f4=0;di();else if(Key_A=O&Key_D=O&Key_B=l&Key_C=O) /B 键被按下 fl=0;f2=l;f3=0;f4=0;di();else if(Key_B=O&Key_D=O&Key_A=O&Key_C=l) /C 键被按下 fl=0;f2=0;f3=l;f4=0;di();else if(Key_D=l&Key_B=O&Key_A=O&Key_C=O) /D 键彼按下 f

14、l=0;f2=0;f3=0;f4=l;di();辻(fl)StartModule 0; for (a=951:a0;a)if(RX=l)Timer_Count 0; Count10;if(f2)runback ();辻(f3)loopO ;if(f4)stopO ;辻(nO=l)if(low_velosity)switch(receiveData)caseleftdata：PWM_RUNLEFT(30);break;caserightdata：PWM_RUNRIGHT(30);break;caseforwarddata：PWM_RUNFRONT(64, 70); break;casebackdata：PWM_RUNBACK(64, 70);break;casestopdata：bluestop ();break;if (high_velosity)switch(receiveData)caseleftdata：PWM_RUNLEFT(50); break;caserightdata：PLRUNRIGHT(50) ; break;casef