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標(biāo)題: 藍(lán)牙小車，可控制機(jī)械臂可控制車方向的程序（手機(jī)程序或者上位機(jī)程序自己編寫） [打印本頁(yè)]

作者: 磊雷雷 時(shí)間: 2018-10-19 02:40
標(biāo)題: 藍(lán)牙小車，可控制機(jī)械臂可控制車方向的程序（手機(jī)程序或者上位機(jī)程序自己編寫）
// HAL_UART_Transmit_DMA(&huart1, "start\r\n",7);
 while (1)
 {

 /* USER CODE END WHILE */

 /* USER CODE BEGIN 3 */
 if(UsartType.RX_flag) // Receive flag
 {
 UsartType.RX_flag=0; // clean flag
 HAL_UART_Transmit(&huart2, UsartType.RX_pData, UsartType.RX_Size, 0xFFFF);
 }
 //用led控制爪子也就是6號(hào)舵機(jī)的開關(guān)
 //用蜂鳴器控制形態(tài)的切換
 switch(UsartType.RX_pData[0])
 {
 //進(jìn)入控制舵機(jī)的指令
 case 0x21:
 yunxing_flag = 0;
 che_flag = 0;
 break;
 //進(jìn)入車的運(yùn)行指令
 case 0x20:
 yunxing_flag = 1;
 break;
 case 0x30:
// yunxing_flag = 1;
 che_flag = 1;
 break;
 case 0x3f:
// yunxing_flag = 1;
 che_flag = 2;
 break;
 case 0x31:
// yunxing_flag = 1;
 che_flag = 3;
 break;
 case 0x32:
// yunxing_flag = 1;
 che_flag = 4;
 break;
 //爪子開
 case 0x11:
 che_flag = 5;
 break;
 //爪子關(guān)
 case 0x10:
 che_flag = 6;
 break;
 case 0xff:
 che_flag = 0;
 break;
 }
//車運(yùn)行程序
 if(yunxing_flag==1&&che_flag==1)
 {
 PWM_Change_Duty(80,0,80,0);
 }
 if(yunxing_flag==1&&che_flag==2)
 {
 PWM_Change_Duty(0,80,0,80);
 }
 if(yunxing_flag==1&&che_flag ==3)
 {
 PWM_Change_Duty(70,0,0,70);
 }
 if(yunxing_flag==1&&che_flag == 4)
 {
 PWM_Change_Duty(0,70,70,0);
 }
 if(che_flag==0||yunxing_flag == 0)
 {
 PWM_Change_Duty(0,0,0,0);
 }
// HAL_Delay(100);
//舵機(jī)運(yùn)行函數(shù)
#if 1
 if(yunxing_flag==0&&che_flag==1)
 {
 UsartType.RX_pData[0] = '\0';
 if(j>10)
 {
 j --;
 }
 else
 {
 j++;
 }
 HAL_UART_Transmit_IT(&huart1,&ErHao[j][18],strlen(&ErHao[j][18]));
 HAL_Delay(100);
 }
 if(yunxing_flag==0&&che_flag==2)
 {
 UsartType.RX_pData[0] = '\0';
 if(j<72)
 {
 j ++;
 }
 else
 {
 j--;
 }
 HAL_UART_Transmit_IT(&huart1,&ErHao[j][18],strlen(&ErHao[j][18]));
 HAL_Delay(100);
 }


 //四號(hào)舵機(jī)動(dòng)作的左和右
 if(yunxing_flag==0&&che_flag ==3)
 {
 UsartType.RX_pData[0] = '\0';
 if(l<35)
 {
 l++;
 }
 else
 {
 l--;
 }
 HAL_UART_Transmit_IT(&huart1,&SiHao[l][18],strlen(&SiHao[l][18]));
 HAL_Delay(100);
 }
 if(yunxing_flag==0&&che_flag == 4)
 {
 UsartType.RX_pData[0] = '\0';
 if(l>5)
 {
 l --;
 }
 else
 {
 l++;
 }
 HAL_UART_Transmit_IT(&huart1,&SiHao[l][18],strlen(&SiHao[l][18]));
 HAL_Delay(100);
 }



 //爪子開與關(guān)
 if(yunxing_flag==0&&che_flag == 5)
 {
 UsartType.RX_pData[0] = '\0';
 if(k>35)
 {
 k = k-17;
 }
 HAL_UART_Transmit_IT(&huart1,&SanHao[k][18],strlen(&SanHao[k][18]));
 HAL_Delay(100);

 }
 if(yunxing_flag==0&&che_flag == 6)
 {
 UsartType.RX_pData[0] = '\0';
 if(k<35)
 {
 k = k+17;
 }
 HAL_UART_Transmit_IT(&huart1,&SanHao[k][18],strlen(&SanHao[k][18]));
 HAL_Delay(100);
 }

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作者: admin 時(shí)間: 2018-10-19 03:37
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