51小车红外循迹及蓝牙代码

 

main.c

#include <REGX52.H>
#include "time.h"
#include "motordriver.h"
#include "MoveState.h"
#include "follow.h"
#include "lanya.h"


extern unsigned int PWMR;
extern unsigned int PWML;
unsigned int recive=0;

void main()
{
	  UART_Init();
	if(recive==1)
	{
		PWML=15;
		PWMR=15;
	  go();
	}
		if(recive==2)
	{
		PWML=15;
		PWMR=15;
	  back();
	}
	if(recive==3)
	{
		PWML=15;
		PWMR=0;
	  left();
	}
	if(recive==4)
	{
		PWML=0;
		PWMR=15;
	  right();
	}
	if(recive==5)
	{
		PWML=15;
		PWMR=15;
	  stop();
	}
	if(recive==6)
	{
		PWML=15;
		PWMR=15;
	  left1();
	}
	if(recive==6)
	{
		PWML=15;
		PWMR=15;
	  right1();
	}
		if(recive==7)
	{
		PWML=15;
		PWMR=10;
	  go();
	}
	if(recive==8)//zuozhuan
	{
		PWML=10;
		PWMR=15;
	  go();
	}
	
		Timer0_Init();
		EA=1;
		while(1)
		{
			track();
			
		}
	
	
}

void Uart_Routine(void)  interrupt 4
{
	
	if(RI==1)
	{
		RI=0;
	    recive= SBUF;		//½ÓÊÕÊý¾Ý
		
	}
}



time.c

#include <REGX52.H>

sbit ENA=P1^2;    //定义左电机
sbit ENB=P1^0;    //定义右电机
unsigned int PWMR=0,PWML=0,T0Count=0;
void Timer0_Init()
{
	TMOD=0x01;  //0000 0001	
	TH0=(64536-100)/256;
	TL0=(64536-100)%256;
	TF0=0;
	TR0=1;//打开定时器
	ET0=1;//打开定时器0中断允许
	EA=1;
	PT0=0;
}


void Timer0_Routine() interrupt 1  //中断函数
{

	TL0 = (64536-100)%256;		
	TH0 = (64536-100)/256;		
	T0Count++;
	if(T0Count<PWMR)
	{
	ENB=1;
	}
	else
	{
	ENB=0;
	}
	if(T0Count<PWML)
	{
	ENA=1;
	}
	else
	{
	ENA=0;
	}
	if(T0Count>=100)
	{
		T0Count=0;
	}
}


time.h

#ifndef __TIME_H__
#define __TIME_H__

void Timer0Init(void);

#endif


motordirver.c

#include <REGX52.H>

sbit IN1=P0^1;
sbit IN2=P0^2;
sbit IN3=P0^4;
sbit IN4=P0^3;

void leftmotorforward()
{IN1=0;IN2=1;}//×óµç»úÕýת
void rightmotorforward()
{IN3=0;IN4=1;}//ÓÒµç»úÕýת
void leftmotorstop()
{IN1=1;IN2=1;}//×óµç»úÍ£Ö¹
void rightmotorstop()
{IN3=1;IN4=1;}//×óµç»úÍ£Ö¹
void leftmotorback()
{IN1=1;IN2=0;}//×óµç»ú·´×ª
void rightmotorback()
{IN3=1;IN4=0;}//ÓÒµç»ú·´×ª

motordirver.h

#ifndef __MOTORDRIVER_H__
#define __MOTORDRIVER_H__

void leftmotorforward();
void rightmotorforward();
void leftmotorstop();
void rightmotorstop();
void leftmotorback();
void rightmotorback();

#endif

follow.c

#include <REGX52.H>
#include "time.h"
#include "Delay.h"
#include "MoveState.h"
 
sbit d5=P2^0;
sbit d4=P2^1;
sbit d3=P2^2;
sbit d2=P2^3;
sbit d1=P2^4;


extern unsigned int PWMR;
extern unsigned int PWML;



void track()//Ãð1  ÁÁ0  ¼ì²âµ½ºÚÏßΪÃð
{
	if(d1==0&&d2==0&&d3==0&&d4==0&&d5==1)
	{
		PWML=10;
		PWMR=10;
		go();
	}
	if(d1==0&&d2==1&&d3==1&&d4==0&&d5==1)
	{
		PWML=10;
		PWMR=10;
		go();
	}
	if(d1==0&&d2==0&&d3==0&&d4==0&&d5==0)
	{
		PWML=10;
		PWMR=10;
		go();
	}
	if(d1==1&&d2==1&&d3==1&&d4==1&&d5==1)
	{
		PWML=16;
		PWMR=10;
		right1();
	}
	if(d1==0&&d2==0&&d3==1&&d4==1&&d5==0)
	{
		PWML=16;
		PWMR=10;
		right1();
	}
	if(d1==1&&d2==1&&d3==0&&d4==0&&d5==0)
	{
		PWML=10;
		PWMR=16;
		left1();
	}  
 
	if(d1==0&&d2==0&&d3==0&&d4==1&&d5==0)
	{
		PWML=14;
		PWMR=0;
		go();
	}
	if(d1==1&&d2==0&&d3==0&&d4==0&&d5==0)
	{
		PWML=0;
		PWMR=14;
		go();
	}
	if(d1==0&&d2==1&&d3==0&&d4==0&&d5==0)
	{
		PWML=6;
		PWMR=13;
		go();
	}
	if(d1==0&&d2==0&&d3==1&&d4==0&&d5==0)
	{
		PWML=13;
		PWMR=6;
		go();
	}
}

follow.h

#ifndef __DELAY_H__
#define __DELAY_H__

void track();
#endif

movestate.c

#include <REGX52.H>
#include "motordriver.h"


void go()
  {leftmotorforward();rightmotorforward();}
void left()
  {leftmotorstop();rightmotorforward();}
void right()
  {leftmotorforward();rightmotorstop();}
void stop()
  {leftmotorstop();rightmotorstop();}
void back()
  {leftmotorback();rightmotorback();}
void left1()
	{leftmotorback();rightmotorforward();}
void right1()
  {leftmotorforward();rightmotorback();}

movestate.h

#ifndef __MOVESTATE_H__
#define __MOVESTATE_H__

void go(void);
void left();
void right();
void stop();
void back();
void leftback();
void rightback();

#endif


lanya.c
#include <REGX52.H>

/**
  * @brief  ´®¿Ú³õʼ»¯£¬4800bps@12.000MHz
  * @param  ÎÞ
  * @retval ÎÞ
  */
void UART_Init()
{
	SCON = 0x50;           //·½Ê½1 8λÊý¾Ý ½ÓÊÕµØÖ·Õç±ð½ûÖ¹ ½ÓÊÕʹÄÜ 0101 0000
	PCON = 0x00;         //²¨ÌØÂʲ»Ôö±¶
	TMOD = 0x20;         //T1,8λ×Ô¶¯ÖØ×°
	TH1 = 0xfd;	  		 //²¨ÌØÂÊ9600
	TL1 = 0xfd;
	EA   = 1;
	ES   = 1;
	TR1 = 1;    
}

/**
  * @brief  ´®¿Ú·¢ËÍÒ»¸ö×Ö½ÚÊý¾Ý
  * @param  Byte Òª·¢Ë͵ÄÒ»¸ö×Ö½ÚÊý¾Ý
  * @retval ÎÞ
  */
void UART_SendByte(unsigned char Byte)
{
	SBUF=Byte;
	while(TI==0);
	TI=0;
}

///unsigned int recive=0;
//void Uart_Routine(void)  interrupt 4
//{
//	
//	if(RI==1)
//	{
//		RI=0;
//	    recive= SBUF;		//½ÓÊÕÊý¾Ý
//		
//	}
//}
lanya.h

#ifndef __LANYA_H__
#define __LANYA_H__

void UART_Init();
void UART_SendByte(unsigned char Byte);
#endif