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#include<reg52.h>
sbit PWM1 = P2^0;//右后輪電機(jī)驅(qū)動(dòng)使能
sbit PWM2 = P2^1;//左后輪電機(jī)驅(qū)動(dòng)使能
sbit PWM3 = P2^2;//右前輪電機(jī)驅(qū)動(dòng)使能
sbit PWM4 = P2^3;//左前輪電機(jī)驅(qū)動(dòng)使能
sbit motor_control_1 = P0^0;//右后輪后退
sbit motor_control_2 = P0^1;//右后輪前進(jìn)
sbit motor_control_3 = P0^2;//左后輪后退
sbit motor_control_4 = P0^3;//左后輪前進(jìn)
sbit motor_control_5 = P0^4;//右前輪后退
sbit motor_control_6 = P0^5;//右前輪前進(jìn)
sbit motor_control_7 = P0^6;//左前輪后退
sbit motor_control_8 = P0^7;//左前輪前進(jìn)
unsigned char ucBluetoothData = 230;//設(shè)置初始速度最大值為255最小為125
unsigned char ucLock = 0;//互斥量，俗稱原子鎖
unsigned int uiPWMCnt1 = 0;
unsigned int uiPWM1 = 230;
unsigned int uiPWMCnt2 = 0;
unsigned int uiPWM2 = 230;
unsigned int uiPWMCnt3 = 0;
unsigned int uiPWM3 = 230;
unsigned int uiPWMCnt4 = 0;
unsigned int uiPWM4 = 230;
unsigned char ucTempPWM;//設(shè)置中間變量
void initial_myself();
void initial_peripheral();
void T0_time();
void usart_service(void);
//void usart_send(unsigned char ucSendData);
void delay_long(unsigned int uiDelayLong);
void go_forward(void);//前進(jìn)
void fall_back(void);//后退
void turn_left(void);//左轉(zhuǎn)
void turn_right(void);//右轉(zhuǎn)
void stop();//剎車(chē)
void main()
{
initial_myself();
delay_long(100);
initial_peripheral();
while(1)
{
usart_service();
// delay_long(500);
}
}
//串口服務(wù)函數(shù)
void usart_service()
{
switch(ucBluetoothData)
{
case 0x04://前進(jìn)
ucBluetoothData = 0x02;//避免一直觸發(fā)
go_forward();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
case 0x05://左轉(zhuǎn)
ucBluetoothData = 0x02;//避免一直觸發(fā)
turn_left();
ucLock = 1;
uiPWM2 = uiPWM4= ucTempPWM / 4;
uiPWM3 =uiPWM1 = ucTempPWM;
ucLock = 0;
break;
case 0x06://右轉(zhuǎn)
ucBluetoothData = 0x02;//避免一直觸發(fā)
turn_right();
ucLock = 1;
uiPWM2 = uiPWM4 = ucTempPWM;
uiPWM3 =uiPWM1 = ucTempPWM / 4;
ucLock = 0;
break;
case 0x07://后退
ucBluetoothData = 0x02;//避免一直觸發(fā)
fall_back();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
case 0x01:
ucBluetoothData = 0x02;//避免一直觸發(fā)
stop();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
case 0x00:
ucBluetoothData = 0x02;//避免一直觸發(fā)
stop();
ucLock = 1;
uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;
ucLock = 0;
break;
default :
break;
}
delay_long(100);
// usart_send(ucBluetoothData);
//速度調(diào)節(jié)的數(shù)據(jù)
if(ucBluetoothData!=0x00&&ucBluetoothData!=0x01 && ucBluetoothData!=0x02 && ucBluetoothData!=0x04 && ucBluetoothData!=0x05 && ucBluetoothData!=0x06 && ucBluetoothData!=0x07)
{
ucLock = 1;
ucTempPWM = uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucBluetoothData;
ucLock = 0;
}
}
void T0_time() interrupt 1
{
TF0 = 0;//清除中斷標(biāo)志
TR0 = 0;//關(guān)定時(shí)器
uiPWMCnt1 ++;
uiPWMCnt2 ++;
uiPWMCnt3 ++;
uiPWMCnt4 ++;
if(ucLock == 0)
{
if(uiPWMCnt1 > 255)
{
uiPWMCnt1 = 0;
}
if(uiPWMCnt1 < uiPWM1)
{
PWM1 = 1;
}
else
{
PWM1 = 0;
}
if(uiPWMCnt2 > 255)
{
uiPWMCnt2 = 0;
}
if(uiPWMCnt2 < uiPWM2)
{
PWM2 = 1;
}
else
{
PWM2 = 0;
}
if(uiPWMCnt3 > 255)
{
uiPWMCnt3 = 0;
}
// if(uiPWMCnt3 < uiPWM3)
// {
// PWM3 = 1;
// }
// else
// {
// PWM3 = 0;
// }
if(uiPWMCnt4 > 255)
{
uiPWMCnt4 = 0;
}
// if(uiPWMCnt4 < uiPWM4)
// {
// PWM4 = 1;
// }
// else
// {
// PWM4 = 0;
// }
}
TH0 = 0xff;
TL0 = 0x28;
TR0 = 1;///開(kāi)定時(shí)器
}
void initial_myself()
{
TMOD = 0x01;//設(shè)置定時(shí)器0為工作方式1
TH0 = 0xff;
TL0 = 0x28;
//配置串口
SCON = 0x50;
TMOD = 0x21;
TH1 = TL1 = -(11095200L/12/32/9600);
IP = 0x10;
stop();
PWM1 = 1;
PWM2 = 1;
PWM3 = 1;
PWM4 = 1;
}
void initial_peripheral()
{
EA = 1;//開(kāi)總中斷
ES = 1;//允許串口中斷
ET0 = 1;//允許定時(shí)器中斷
TR0 = 1;//啟動(dòng)定時(shí)器
TR1 = 1;//
}
void usart_receive(void) interrupt 4
{
if(RI == 1)
{
RI = 0;
ucBluetoothData = SBUF;
// uiSendCnt = 0;
}
else
{
TI = 0;
}
}
//void usart_send(unsigned char ucSendData)
//{
// ES = 0;
// TI = 0;
// SBUF = ucSendData;
// TI = 0;
// ES = 1;
//
//}
void delay_long(unsigned int uiDelayLong)
{
unsigned int i;
unsigned int j;
for(i = 0 ; i < uiDelayLong ; i++)
{
for(j = 0; j < 500; j++);
}
}
void stop()//停止
{
motor_control_1 = 0;
motor_control_2 = 0;
motor_control_3 = 0;
motor_control_4 = 0;
motor_control_5 = 0;
motor_control_6 = 0;
motor_control_7 = 0;
motor_control_8 = 0;
}
void fall_back()
{
motor_control_1 = 1;
motor_control_2 = 0;
motor_control_3 = 1;
motor_control_4 = 0;
motor_control_5 = 1;
motor_control_6 = 0;
motor_control_7 = 1;
motor_control_8 = 0;
}
void go_forward()
{
motor_control_1 = 0;
motor_control_2 = 1;
motor_control_3 = 0;
motor_control_4 = 1;
motor_control_5 = 0;
motor_control_6 = 1;
motor_control_7 = 0;
motor_control_8 = 1;
}
void turn_left()//左轉(zhuǎn)
{
motor_control_1 = 0;
motor_control_2 = 1;
motor_control_3 = 0;
motor_control_4 = 1;
motor_control_5 = 0;
motor_control_6 = 1;
motor_control_7 = 0;
motor_control_8 = 1;
}
void turn_right()//右轉(zhuǎn)
{
motor_control_1 = 0;
motor_control_2 = 1;
motor_control_3 = 0;
motor_control_4 = 1;
motor_control_5 = 0;
motor_control_6 = 1;
motor_control_7 = 0;
motor_control_8 = 1;
}
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