WIFI小车控制程序源代码

//Wifi 智能小车 第二版 //小车增加调速功能 //Wonder Technology //单片机采用22.1184M晶振 //加入控制摄像头的直流驱动 #include <STC12C5A.h> //包含STC12C5A系列单片机的头文件 #include"1602.h" sbit LED1=P3^0; //定义两只LED到P3^0,P3^1 sbit LED2=P3^1; sbit Light_F=P3^4; sbit Light_B=P2^3; sbit beed=P2^7; sbit KEY1=P3^6; sbit KEY2=P3^7; sbit EN1=P2^0; sbit IN1=P2^1; sbit IN2=P2^2; sbit EN2=P2^4; sbit IN3=P2^5; sbit IN4=P2^6; // 舵机直流电机 sbit EN1_S=P1^0; sbit IN1_S=P1^1; sbit IN2_S=P1^2; sbit EN2_S=P1^3; sbit EN3_S=P1^4; sbit EN4_S=P1^5; sbit SPWM1=P1^6; unsigned long PWM_cnt=0; unsigned int PWM_G1=5; int speed_R=0; //定义两个电机的速度，有正负之分，为正是，正转。（范围－100~100） int speed_L=0; int pre_RS=0; int pre_LS=0; int set_RS=0; int set_LS=0; int speed_A=0; unsigned int cnt_s=0; //用于计数PWM的点空比0＝100； unsigned long cnt_b=0; unsigned long cnt_beed=0; //用于控制蜂鸣器 unsigned int flag_beed=1; unsigned int B_counter=0; unsigned char R_date[3]={0}; unsigned char RBuff_date[3]={0}; unsigned char pattern=0; //0:stop 1:start unsigned long cnt_ser=0; //用于舵机直流电机控制 unsigned char flag_ser=0; /* void delay(unsigned long t) //软件延时带参数t { unsigned int j,k; for(t;t>0;t--) for(j=20;j>0;j--) for(k=100;k>0;k--); } */ void beed_ctrl(unsigned long time , unsigned int num) { beed=0; cnt_beed=time; B_counter=2*num; beed=1; cnt_b=0; } void display_1602(unsigned int addr,unsigned char temp) { unsigned int i,w[2]; w[0]=temp/16; w[1]=temp%16; for(i=0;i<2;i++) { switch(w[i]) { case 0: print(addr+i,"0"); break; case 1: print(addr+i,"1"); break; case 2: print(addr+i,"2"); break; case 3: print(addr+i,"3"); break; case 4: print(addr+i,"4"); break; case 5: print(addr+i,"5"); break; case 6: print(addr+i,"6"); break; case 7: print(addr+i,"7"); break; case 8: print(addr+i,"8"); break; case 9: print(addr+i,"9"); break; case 10: print(addr+i,"A"); break; case 11: print(addr+i,"B"); break; case 12: print(addr+i,"C"); break; case 13: print(addr+i,"D"); break; case 14: print(addr+i,"E"); break; case 15: print(addr+i,"F"); break; default: break; } } } void display_1602_10(unsigned int addr,unsigned char temp) { unsigned int i,w[3]; w[0]=temp/100; w[1]=temp/10%10; w[2]=temp%10; for(i=0;i<3;i++) { print2(addr+i,w[i]); } } /****************servo up***********/ void ser_up() { EN1_S=1; IN1_S=1; IN2_S=0; flag_ser=1; } void ser_down() { EN1_S=1; IN1_S=0; IN2_S=1; flag_ser=1; } /*************init To************/ void init_T0(void) { TMOD|=0x01; //定时器工作在模式1 TH0=0xff; //定时初值TH0＝0xff TL0=0x49 定时100uS TL0=0x49; TR0=1; ET0=1; } /************TO interrupt********/ void timer0(void) interrupt 1 { TH0=0xff; TL0=0x49; cnt_s++; //PWM占空比计数　0－100 if(cnt_s>=speed_R) { EN1=0; } if(cnt_s>=speed_L) { EN2=0; } if(cnt_s>=100) { EN1=1; EN2=1; cnt_s=0; } } /*************motor control***************/ void motor( int m_R, m_L) { pre_RS=m_R; pre_LS=m_L; //right motor if(m_R>0) { IN1=0; IN2=1; speed_R=m_R; } else if (m_R<0) { IN1=1; IN2=0; m_R=-m_R; speed_R=m_R; } else { IN1=0; IN2=0; } //left motor if(m_L>0) { IN3=0; IN4=1; speed_L=m_L; } else if(m_L<0) { IN3=1; IN4=0; m_L=-m_L; speed_L=m_L; } else { IN3=0; IN4=0; } } /***********初始化系统所有的参数********************/ void init_system() { unsigned int i; motor(0,0); beed=1; Light_F=1; Light_F=1; speed_A=0; for(i=0;i<3;i++) { R_date[i]=0; RBuff_date[i]=0; } } /****************速度记录****************************/ int Mark_Speed(int set) { int s_temp; if(set==0) { s_temp=0; } else if(set<0) { s_temp=-speed_A; } else { s_temp=speed_A; } return s_temp; } /**********UART***************采用独立波特率发生器******/ void initUart(void) //4800 波特率 { SCON=0x50; PCON=0xB0; BRT=0xfa; AUXR=0x11; ES=1; } void SCI_TX(unsigned char date) { SBUF=date; while(!TI); TI=0; } void uart(void) interrupt 4 { if(RI) { RI=0; //add your code here. RBuff_date[0]= RBuff_date[1]; RBuff_date[1]= RBuff_date[2]; RBuff_date[2]=SBUF; if(RBuff_date[0]==0x7B && RBuff_date[1]==0x31 && RBuff_date[2]==0x7D) { pattern=1; print(0x4f,"1"); beed_ctrl(1500,1); } else if(RBuff_date[0]==0x7B && RBuff_date[1]==0x30 && RBuff_date[2]==0x7D) { pattern=0; print(0x4f,"0"); init_system(); beed_ctrl(500,2); } else if( RBuff_date[0]==0x50 && RBuff_date[2]==0x00 ) { speed_A=RBuff_date[1]; set_RS=Mark_Speed(pre_RS); set_LS=Mark_Speed(pre_LS); motor( set_LS, set_RS); } else { R_date[0]=RBuff_date[0]; R_date[1]=RBuff_date[1]; R_date[2]=RBuff_date[2]; } } else TI=0; } /**************interrupt T1***********/ void timer1(void) interrupt 3 { TH1=0xff; TL1=0x49; //add your code here. PWM_cnt++; if(PWM_cnt >=PWM_G1 ) { SPWM1=0; } if(PWM_cnt >= 20) { PWM_cnt=0; SPWM1=1; } cnt_b++; if(flag_beed==1) { if(B_counter>0) { if(cnt_b>cnt_beed) { beed=!beed; cnt_b=0; B_counter--; } } } if(flag_ser==1) { cnt_ser++; if(cnt_ser>100) { EN1_S=0; flag_ser=0; cnt_ser=0; } } } /**************init T1****************/ void init_T1(void) { TMOD|=0x10; TH1=0xff; TL1=0x49; TR1=1; ET1=1; } main(void) { LED1=1; //高电平LED不亮 LED2=1; // P4SW=0xff; //定义ALE PSEN 。。三个引脚为P4.4 P4.5 P4.6 用于控制1602显示屏 init_T0(); //初始化定时器。 init_T1(); CLK_DIV=0x01; //系统分频工作，速度太快，1602控制不了。 LCM2402_Init(); // 初如化1602显示屏 initUart(); init_system(); EA=1; beed_ctrl(800,3); print(0x00,"WT"); //在第一行第一位处从左向右打印"WonderTechnology" 字符串 print(0x40,"RX:"); print(0x0B,"S:"); print(0x4f,"0"); while(1) { if(KEY1==0) //按下第一按键发送“0x55“ { while(!KEY1); ser_up(); } if(KEY2==0) //按下第二按键发送“0xf0“ { while(!KEY2); // SCI_TX(0xf0); ser_down(); } // display_1602_10(0x4D,PWM_G1); display_1602_10(0x0D,speed_A); display_1602(0x43,RBuff_date[0]); display_1602(0x46,RBuff_date[1]); display_1602(0x49,RBuff_date[2]); if(pattern==1) { switch(R_date[0]) { case 0x44: switch(R_date[1]) { case 0x4c: switch(R_date[2]) { case 0x31: motor(0,speed_A); break; case 0x32: motor(-speed_A,speed_A); break; case 0x33: motor(0,-speed_A); break; default: break; } break; case 0x44: switch(R_date[2]) { case 0x31: motor(speed_A,speed_A); break; case 0x32: motor(0,0); break; case 0x33: motor(-speed_A,-speed_A); break; default: break; } break; case 0x52: switch(R_date[2]) { case 0x31: motor(speed_A,0); break; case 0x32: motor(speed_A,-speed_A); break; case 0x33: motor(-speed_A,0); break; default: break; } break; default: break; } break; case 0x46: switch(R_date[1]) { case 0x4c: switch(R_date[2]) { case 0x31:Light_F=0; break; case 0x32:Light_F=1; break; case 0x33:Light_B=0; break; case 0x34:Light_B=1; break; default: break; } break; case 0x42: switch(R_date[2]) { case 0x31: beed=0; break; case 0x30: beed=1; break;