智能小车源代码

1、#include之马矢奏春创作时间：二O二一年七月二十九日#include /#includelcd.hsbit TX=P2”7;sbit RX=P2”6;sbit PWM二P4;sbit Beep=P3”7;sbit led1=P3”3;sbit led2=P3”4;sbit led3=P3”5;/* 蓝牙切换按键 */sbit k1=P3”6;/*自界说一些数据，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 0 x11#define rightdata 0 x22#define forwarddata 0 x33#define b

2、ackdata 0 x44#define stopdata 0 x55#define uchar unsigned char#define uint unsigned intunsigned char receiveData,high_velosity,low_velosity;void UsartConfiguration();/* 机电端口界说 */sbitIN1=P0;/为高电平时，左机电后转sbitIN2=P1;为高电平时，左机电正转sbitIN3=P2;为高电平时，右机电正转sbitIN4=P3;/为高电平时,右机电后转/* 无线遥控模块界说 */sbit Key_A = P20;/

3、B 键信号端对应 DOsbit 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;/用于寄存按时器时间值unsigned int S;/用于寄存距离的值char flag =0;/量程溢出标识表记标帜位char f1,f2,f3,f4,n0;int a;int n;/运行次数判断标识表记标帜in

4、t s_left,s_right;void Delay10us(unsigned char i)unsigned char j;do(j = 10;do(_nop_();while(-j);while(-i);/*/* 机电法式 */*/void loop()IN1=1; /左机电IN2=0;IN3=1; /右机电IN4=0;void runfront()IN1=1; /左机电IN2=0;IN3=0; /右机电IN4=1;/小车后退函数void runback()IN1=0; /左机电IN2=1;IN3=1; /右机电IN4=0;小车左转void runleft()IN1=0; /左机电IN2

5、=0;IN3=0; /右机电IN4=1;小车右转void runright()IN1=1; /左机电IN2=0;IN3=0; /右机电IN4=0;/小车左后转/void runbackleft()/(/ IN1=0; /左机电/ IN2=0;/ IN3=0; /右机电/ IN4=1;/小车右后转/void runbackright()/(/ IN1=1; /左机电/ IN2=0;/ IN3=0; /右机电/ IN4=0;/小车停止函数void stop()IN1=0; /左机电IN2=0;IN3=0; /右机电IN4=0;/*/* 蓝牙法式 */*/void delay(unsigned in

6、t a)unsigned int b;for(;a0;a-)for(b=3;b0;b-);左机电转void left_motor_runfront(unsigned int a)IN1=1; /左机电IN2=0;delay(a);IN1=0;IN2=0;delay(100-a);void right_motor_runfront(unsigned int a)IN3=0; /右机电IN4=1;delay(a);IN3=0;IN4=0;delay(100-a);void left_motor_back(unsigned int a)IN1=0; /左机电IN2=1;delay(a);IN1=0;

7、IN2=0;delay(100-a);void right_motor_back(unsigned int a)IN3=1; /右机电IN4=0;delay(a);IN3=0;IN4=0;delay(100-a);void left_motor_stop()IN1=0; /左机电IN2=0;void right_motor_stop()IN3=0; /左机电IN4=0;/PWM调速void PWM_RUNFRONT(unsigned int a,unsigned int b) /a 属于0100left_motor_runfront(a);right_motor_runfront(b);voi

8、d PWM_RUNBACK(unsigned int a,unsigned int b) /a 属于0100left_motor_back(a);right_motor_back(b);void PWM_RUNLEFT(unsigned int a) /a 属于 0100right_motor_runfront(a);left_motor_stop();void PWM_RUNRIGHT(unsigned int a) /a 属于 0100right_motor_stop();left_motor_runfront(a);void bluestop()left_motor_stop();rig

9、ht_motor_stop();void UsartConfiguration()SCON=0X50; /设置为工作方式1TMOD=TMOD|0 x21; 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; /翻开接收中断EA=1; /翻开总中断TR1=1;TH0=0;TL0=0;ET0=1; 翻开计数器/* 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二SBUF;/出去接收到的数据

10、RI = 0;/清除接收中断标识表记标帜位if(receiveData=0 x66)low_velosity=1;high_velosity=0;/ write_com(0 x80);if(receiveData=0 x77)low_velosity=0;high_velosity=1;/*/* 舵机法式 */*/void delayx(int t)char j;for(;t0;t-)for(j=19;j0;j-);void degree0()int i;for(i=0;i10;i+)PWM=1;delayx(10);/1msPWM=0;delayx(390);/19msvoid degree

11、90()int i;for(i=0;i10;i+)PWM=1;delayx(24);/50PWM=0;delayx(376);/18.5msvoid degree180()int i;for(i=0;i15;i+)PWM=1;delayx(40);/1.5msPWM=0;delayx(360);/18.5ms/*/* 超声波法式*/*/*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(S30&n=1)led1=1;runfront();n=0;if(n=2)s_left=S;degr

12、ee180();di();if(n=3)s_right=S;degree90();di();n=0;/标识表记标帜位清零if(s_lefts_right)led2=1;delay1ms(50);led2=0;delay1ms(50);runright();delayx(1250);elseled3=1;delay(800);led3=0;delay(500);runleft();delayx(1250);/*超声波高电平脉冲宽度计算法式*/void Timer_Count(void)TR1=1;/开启计数while(RX); /当RX为1计数并等候TR1=0;关闭计数/Count1();/计算

13、/*/void StartModule()/启动模块TX=1;/启动一次模块Delay10us(2);TX=0;/*/* 主 法 式*/*/void main(void)UsartConfiguration();while(1)if(k1=0&n0=0)delay1ms(20);if(k1=0)n0+;else if (kl=OMnO=l)delaylms(20);if (kl=0)nO一;if (n0=0)if (Key_B=OMKey_D=OMKey_C=OMKey_A=l) /A 键被按下fl=l;f2=0;f3=0;f4=0;di();else if (Key_A=OMKey_D=OM

14、Key_B=lMKey_C=O) /B键被按下fl=0;f2=l;f3=0;f4=0;di();else if (Key_B=OMKey_D=OMKey_A=OMKey_C=l) /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;a0;a-)if(RX=1)Timer_Count();Count1();if(f2)runback();if(f3)loop();if(f4)stop(

15、);if(n0=1)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;case stopdata:bluestop();break;if(high_velosity)switch(receiveData)caseleftdata:PWM_RUNLEFT(50); break;caserightdata:PWM_RUNRIGHT(50); break;caseforwarddata