基于金沙滩单片机的L298N智能小车

想着写个按键控制小车跑起来，把程序改了下，用上了按键，
L298N的状态也是网上找的

如果L298N的状态有啥错误，欢迎留言，最后的代码有啥问题，欢迎指正

引脚定义

sbit L298N_IN1 = P1^1;
sbit L298N_IN2 = P1^2;
sbit L298N_IN3 = P1^3;
sbit L298N_IN4 = P1^4;

逻辑输入

该部分有四输入个引脚，两个引脚控制一个电机，该引脚可以根据使用者自己定义接入单片机的哪个引脚。四个引脚分别为IN1、IN2、IN3、IN4,具体控制逻辑如下：IN1输入低电平，IN2输入低电平或者 IN1输入高电平，IN2输入高电平，此时电机停止转动；IN1输入高电平，IN2输入低电平，此时电机顺时针转动；IN2输入高电平，IN1输入低电平，此时电机逆时针转动；但是前提是通道使能了。具体逻辑控制如下图：

#include <reg52.h>
#include <stdio.h>
/*
sbit L298N_IN1 = P1^0;
sbit L298N_IN2 = P1^1;
sbit L298N_IN3 = P1^2;
sbit L298N_IN4 = P1^3;
*/

sbit L298N_IN1 = P1^1;
sbit L298N_IN2 = P1^2;
sbit L298N_IN3 = P1^3;
sbit L298N_IN4 = P1^4;

void Forward(void);//向前行走子程序
void Left_Turn(void);//左转弯子程序
void Right_Turn(void);//右转弯子程序
void Backward(void);//向后行走子程序
void Stop(void);//停止子程序
void delay_nms(int n);

void main()
{
	unsigned int i = 0;  //定义一个无符号整型变量i，并赋初值0
	while(1)
	{
		Forward();//前进
		//delay_nms(500);
		//Left_Turn();//左转
		//delay_nms(500);
		//Right_Turn();//右转
		//delay_nms(500);
		//Backward();//后退
		//delay_nms(500);
		//Stop();//停止
		//delay_nms(500);
	}
}

void delay_nms(int n) //n: millisecond
{
    int i,j;
    for(i = 0; i < n; i++)
        for(j = 0;j < 500; j++)
		{
		}
}

void Forward(void)//向前行走子程序
{
 	unsigned char i;
	unsigned char j;
	L298N_IN1=0;
	L298N_IN2=1;
	L298N_IN3=0;
	L298N_IN4=1;
 	for(i=1;i<=30;i++)
	{
 		for(j=1;j<=30;j++)
		{
			delay_nms(10);
		}
	}
}
void Left_Turn(void)//左转弯子程序
{ 	
	unsigned char i;
	unsigned char j;
	L298N_IN1=0;
	L298N_IN2=1;
	L298N_IN3=1;
	L298N_IN4=1;	
	for(i=1;i<=30;i++)
	{
 		for(j=1;j<=30;j++)
		{
			delay_nms(10);
		}
	}
}
void Right_Turn(void)//右转弯子程序
{
 	unsigned char i;
	unsigned char j;
	L298N_IN1=1;
	L298N_IN2=1;
	L298N_IN3=0;
	L298N_IN4=1;	
	for(i=1;i<=30;i++)
	{
 		for(j=1;j<=30;j++)
		{
			delay_nms(10);
		}
	}
}
void Backward(void)//向后行走子程序
{
 	unsigned char i;
	unsigned char j;
	L298N_IN1=1;
	L298N_IN2=0;
	L298N_IN3=1;
	L298N_IN4=0;	
	for(i=1;i<=30;i++)
	{
 		for(j=1;j<=30;j++)
		{
			delay_nms(10);
		}
	}
}
void Stop(void)//停止子程序
{
 	unsigned char i;
	unsigned char j;
	L298N_IN1=1;
	L298N_IN2=1;
	L298N_IN3=1;
	L298N_IN4=1;	
	for(i=1;i<=20;i++)
	{
 		for(j=1;j<=20;j++)
		{
			delay_nms(10);
		}
	}	
}

上键 前进
下键 后退
左键 左转
右键 右转
ESC 停止

定时器 ，中断

#include <reg52.h>
#include <stdio.h>

//L298N
sbit L298N_IN1 = P1^1;
sbit L298N_IN2 = P1^2;
sbit L298N_IN3 = P1^3;
sbit L298N_IN4 = P1^4;
//按键
sbit KEY_IN_1  = P2^4;
sbit KEY_IN_2  = P2^5;
sbit KEY_IN_3  = P2^6;
sbit KEY_IN_4  = P2^7;
sbit KEY_OUT_1 = P2^3;
sbit KEY_OUT_2 = P2^2;
sbit KEY_OUT_3 = P2^1;
sbit KEY_OUT_4 = P2^0;

unsigned char code KeyCodeMap[4][4] = { //矩阵按键编号到标准键盘键码的映射表
    { 0x31, 0x32, 0x33, 0x26 }, //数字键1、数字键2、数字键3、向上键
    { 0x34, 0x35, 0x36, 0x25 }, //数字键4、数字键5、数字键6、向左键
    { 0x37, 0x38, 0x39, 0x28 }, //数字键7、数字键8、数字键9、向下键
    { 0x30, 0x1B, 0x0D, 0x27 }  //数字键0、ESC键、  回车键、 向右键
};
unsigned char KeySta[4][4] = {  //全部矩阵按键的当前状态
    {1, 1, 1, 1},  {1, 1, 1, 1},  {1, 1, 1, 1},  {1, 1, 1, 1}
};

unsigned char i = 0;   //动态扫描的索引
unsigned int cnt = 0;  //记录T0中断次数
unsigned char flag1s = 0;  //1秒定时标志
unsigned char g_Forward;  
unsigned char g_TurnLeft;  
unsigned char g_TurnRight;
unsigned char g_Backward;  //后退模式 
unsigned char g_Stop;  //停止模式   

void KeyDriver();
void Forward(void);//向前行走子程序
void Left_Turn(void);//左转弯子程序
void Right_Turn(void);//右转弯子程序
void Backward(void);//向后行走子程序
void Stop(void);//停止子程序

static unsigned long sec;	 //记录经过的秒数
static unsigned char dir = 0;


void main()
{
	EA = 1;       //使能总中断
	TMOD = 0x01;  //设置T0为模式1
    TH0  = 0xFC;  //为T0赋初值0xFC67，定时1ms
    TL0  = 0x67;
    ET0  = 1;     //使能T0中断
    TR0  = 1;     //启动T0
	while(1)
	{
	 	KeyDriver();   //调用按键驱动函数
		if (g_Forward) {
		    Forward();
		} else if (g_TurnLeft) {
			Left_Turn();
		} else if (g_TurnRight) {
			Right_Turn();
		} else if (g_Backward) {
			Backward();
		} else if (g_Stop) {
			Stop();	
		}		
	}
}

/*
上键 前进
下键 后退
左键 左转
右键 右转
ESC 停止 
*/
void KeyAction(unsigned char keycode)
{	
    switch (keycode)
	{
		//0x26 上
	    case 0x26: g_Forward = 1; 
		           g_Forward = 0;  
  				   g_TurnLeft = 0;  
  				   g_TurnRight = 0;
  				   g_Backward = 0;  //后退模式 
  				   g_Stop = 0;  //停止模式  
				   break;  
		//0x25 左      
		case 0x25: g_Forward = 0; 
		           g_Forward = 0;  
  				   g_TurnLeft = 1;  
  				   g_TurnRight = 0;
  				   g_Backward = 0;  //后退模式 
  				   g_Stop = 0;  //停止模式  
				   break;
		//0x28 下      
		case 0x28: g_Forward = 0; 
		           g_Forward = 0;  
  				   g_TurnLeft = 0;  
  				   g_TurnRight = 0;
  				   g_Backward = 1;  //后退模式 
  				   g_Stop = 0;  //停止模式  
				   break;
		//0x27 右
		case 0x27: g_Forward = 0; 
		           g_Forward = 0;  
  				   g_TurnLeft = 0;  
  				   g_TurnRight = 1;
  				   g_Backward = 0;  //后退模式 
  				   g_Stop = 0;  //停止模式  
				   break;
		//0x1B 停止
		case 0x1B: g_Forward = 0; 
		           g_Forward = 0;  
  				   g_TurnLeft = 0;  
  				   g_TurnRight = 0;
  				   g_Backward = 0;  //后退模式 
  				   g_Stop = 1;  //停止模式  
				   break;
	}
}

void KeyDriver()
{
    unsigned char i, j;
    static unsigned char backup[4][4] = {  //按键值备份，保存前一次的值
        {1, 1, 1, 1},  {1, 1, 1, 1},  {1, 1, 1, 1},  {1, 1, 1, 1}
    };
    
    for (i=0; i<4; i++)  //循环检测4*4的矩阵按键
    {
        for (j=0; j<4; j++)
        {
            if (backup[i][j] != KeySta[i][j])    //检测按键动作
            {
                if (backup[i][j] != 0)           //按键按下时执行动作
                {
                    KeyAction(KeyCodeMap[i][j]); //调用按键动作函数
                }
                backup[i][j] = KeySta[i][j];     //刷新前一次的备份值
            }
        }
    }
}

void KeyScan()
{
    unsigned char i;
    static unsigned char keyout = 0;   //矩阵按键扫描输出索引
    static unsigned char keybuf[4][4] = {  //矩阵按键扫描缓冲区
        {0xFF, 0xFF, 0xFF, 0xFF},  {0xFF, 0xFF, 0xFF, 0xFF},
        {0xFF, 0xFF, 0xFF, 0xFF},  {0xFF, 0xFF, 0xFF, 0xFF}
    };

    //将一行的4个按键值移入缓冲区
    keybuf[keyout][0] = (keybuf[keyout][0] << 1) | KEY_IN_1;
    keybuf[keyout][1] = (keybuf[keyout][1] << 1) | KEY_IN_2;
    keybuf[keyout][2] = (keybuf[keyout][2] << 1) | KEY_IN_3;
    keybuf[keyout][3] = (keybuf[keyout][3] << 1) | KEY_IN_4;
    //消抖后更新按键状态
    for (i=0; i<4; i++)  //每行4个按键，所以循环4次
    {
        if ((keybuf[keyout][i] & 0x0F) == 0x00)
        {   //连续4次扫描值为0，即4*4ms内都是按下状态时，可认为按键已稳定的按下
            KeySta[keyout][i] = 0;
        }
        else if ((keybuf[keyout][i] & 0x0F) == 0x0F)
        {   //连续4次扫描值为1，即4*4ms内都是弹起状态时，可认为按键已稳定的弹起
            KeySta[keyout][i] = 1;
        }
    }
    //执行下一次的扫描输出
    keyout++;                //输出索引递增
    keyout = keyout & 0x03;  //索引值加到4即归零
    switch (keyout)          //根据索引，释放当前输出引脚，拉低下次的输出引脚
    {
        case 0: KEY_OUT_4 = 1; KEY_OUT_1 = 0; break;
        case 1: KEY_OUT_1 = 1; KEY_OUT_2 = 0; break;
        case 2: KEY_OUT_2 = 1; KEY_OUT_3 = 0; break;
        case 3: KEY_OUT_3 = 1; KEY_OUT_4 = 0; break;
        default: break;
    }
}

void Forward(void)//向前行走子程序
{
	L298N_IN1=0;
	L298N_IN2=1;
	L298N_IN3=0;
	L298N_IN4=1;
}
void Left_Turn(void)//左转弯子程序
{ 	
	L298N_IN1=0;
	L298N_IN2=1;
	L298N_IN3=1;
	L298N_IN4=1;	
}
void Right_Turn(void)//右转弯子程序
{
	L298N_IN1=1;
	L298N_IN2=1;
	L298N_IN3=0;
	L298N_IN4=1;	
}
void Backward(void)//向后行走子程序
{
	L298N_IN1=1;
	L298N_IN2=0;
	L298N_IN3=1;
	L298N_IN4=0;
}
void Stop(void)//停止子程序
{
	L298N_IN1=1;
	L298N_IN2=1;
	L298N_IN3=1;
	L298N_IN4=1;	
}

/* T0中断服务函数，用于数码管显示扫描与按键扫描 */
void InterruptTimer0() interrupt 1
{
    TH0 = 0xFC;  //重新加载初值
    TL0 = 0x67;
	cnt++;       //中断次数计数值加1
    if (cnt >= 1000)  //中断1000次即1秒
    {
        cnt = 0;      //清零计数值以重新开始下1秒计时
        flag1s = 1;   //设置1秒定时标志为1
    }
    //前进
	/*
	if (g_Forward) {
	    L298N_IN1=0;
		L298N_IN2=1;
		L298N_IN3=0;
		L298N_IN4=1;
	}
	//左转
	if (g_TurnLeft) {
	    L298N_IN1=0;
		L298N_IN2=1;
		L298N_IN3=1;
		L298N_IN4=1;
	}
	//右转
	if (g_TurnRight) {
	    L298N_IN1=1;
		L298N_IN2=1;
		L298N_IN3=0;
		L298N_IN4=1;
	}
	//后退
	if (g_Backward) {
		L298N_IN1=1;
		L298N_IN2=0;
		L298N_IN3=1;
		L298N_IN4=0;
	}
	//停止 
	if (g_Stop) {
		L298N_IN1=1;
		L298N_IN2=1;
		L298N_IN3=1;
		L298N_IN4=1;
	}
    */
    KeyScan();   //调用按键扫描函数
}