基于單片機(jī)的藍(lán)牙遙控小車單片機(jī)大作業(yè)

目錄代碼#include<reg52.h>sbitPWM1=P2^0;//PWM波產(chǎn)生的端口sbitPWM2=P2^1;sbitmotor_control_1=P2^7;//左輪控制sbitmotor_control_2=P2^6;//sbitmotor_control_3=P2^5;sbitmotor_control_4=P2^4;//unsignedintPWMCnt1=0;unsignedintcntPWM1=60;unsignedintPWMCnt2=0;unsignedintcntPWM2=60;unsignedcharbluetoothdata;voidinitial_myself();voidinitial_interrupt();voidusart_service(void);voiddelay_long(unsignedinttime);voidgo_forward(void);//voidstop();voidturn_right();voidturn_left();voidback();voidmain(){initial_myself();delay_long(100);initial_interrupt(); stop();while(1){usart_service();}}voidusart_service(){ switch(bluetoothdata) { case'f':go_forward(); delay_long(100); SBUF='f';//返回數(shù)據(jù)到手機(jī) bluetoothdata='a'; break; case's':stop(); delay_long(100); SBUF='s'; bluetoothdata='a'; break; case'r':turn_right(); delay_long(100); SBUF='r'; bluetoothdata='a'; break; case'l':turn_left(); delay_long(100); SBUF='l'; bluetoothdata='a'; break; case'b':back(); delay_long(100); SBUF='b'; bluetoothdata='a'; break; case'1':cntPWM1=60; cntPWM2=60; delay_long(100); SBUF='1'; bluetoothdata='a'; break; case'2':cntPWM1=100; cntPWM2=100; delay_long(100); SBUF='2'; bluetoothdata='a'; break; case'3':cntPWM1=140; cntPWM2=140; delay_long(100); SBUF='3'; bluetoothdata='a'; break; }}voidusart_receive(void)interrupt4//串口中斷程序{if(RI==1)//收到字符{RI=0;//軟件清零bluetoothdata=SBUF;//讀取數(shù)據(jù)}if(TI==1)//發(fā)送數(shù)據(jù){TI=0;//清零}}voidT0_time()interrupt1//定時器1中斷程序{ PWMCnt1++; PWMCnt2++; if(PWMCnt1>=200) { PWMCnt1=1; } if(PWMCnt1<=cntPWM1) //230 { PWM1=1; } else { PWM1=0; } if(PWMCnt2>=200) { PWMCnt2=1; } if(PWMCnt1<=cntPWM2) //230 { PWM2=1; } else { PWM2=0; } TH0=(65536-50)/256; TL0=(65536-50)%256;}voidinitial_myself(){TMOD=0x01;//TH0=(65536-50)/256;//定時50微秒TL0=(65536-50)%256;// SCON=0x50;TMOD=0x21;TH1=TL1=0xfd;//設(shè)置波特率9600IP=0x10;//設(shè)置串口中斷為高優(yōu)先級}voidinitial_interrupt(){EA=1;//開總中斷ES=1;//開串口中斷ET0=1;//開定時器0中斷?TR0=1;//開定時器0TR1=1;//開定時器1}voiddelay_long(unsignedinttime){unsignedinti;unsignedintj;for(i=0;i<time;i++){ for(j=0;j<500;j++);}}voidgo_forward(){motor_control_1=0;motor_control_2=1; motor_control_3=0;motor_control_4=1;}voidstop(){ motor_control_1=0;motor_control_2=0; motor_control_3=0;motor_control_4=0;}voidturn_left(){ inti=5000; for(;i>=0;i--) { if(i) { motor_control_1=0; motor_control_2=0; motor_control_3=0; motor_control_4=1; } else { motor_control_1=0; motor_control_2=0; motor_control_3=0; motor_control_4=0; } } }voidturn_right(){ inti=5000; for(;i>=0;i--) { if(i) { motor_control_1=0; motor_control_2=1; motor_control_3=0; motor_control_4=0; } else { motor_control_1=0; motor_control_2=0;