ps2手柄控制麦克纳木轮小车程序

/*************************************************** 小车接收语音模块命令，完成相应指令 ***************************************************/ #include<reg51.h> #include<intrins.h> #define FOSC 11059200L #define BAUD 57600 //无线通讯模块的晶振和波特率 #define uchar unsigned char //uchar为无符号字节 typedef unsigned char BYTE; // BYTE为无符号字节 unsigned char received_data=0xff; //sbuf里接收到的数据变量 //右前轮 sbit rightfront_1 = P0^1; sbit rightfront_2 = P0^2; //左前轮 sbit leftfront_1 = P0^5; sbit leftfront_2 = P0^6; //右后轮 sbit rightback_1 = P1^1; sbit rightback_2 = P1^2; //左后轮 sbit leftback_1 = P1^3; sbit leftback_2 = P1^4; //控制端,右前，左前，右后，左后 sbit kong_rightfront=P0^0; sbit kong_leftfront=P0^7; sbit kong_rightback=P1^0; sbit kong_leftback=P1^5; //函数声明 void delay_long(unsigned int uiDelaylong); //延时函数 void initial_Serial(); //串口初始化 void Go_choose(); //运动方式选择 void kong_start(); //启动使能端 void kong_stop(); void run(); //前进 void stop(); //停止 void back(); //后退 void right(); //右移动 void left(); //左移动 void rightforward(); //右前斜移动 void leftforward(); //左前斜移动 void rightbackward(); //右后斜移动 void leftbackward(); //左后斜移动 void rightturn(); //右原地转圈 void leftturn(); //左原地转圈 void lateral(); //侧弧度 void left_turn(); //左转划弧 void right_turn(); //右转划弧 /************************************* *************主函数******************* **************************************/ void main() { initial_Serial(); //串口初始化 delay_long(100); //等待外围设备初始换Arduino板 while(1) //小车状态选择 { Go_choose(); } } /*************串口中断函数*******************/ void Uart_Isr() interrupt 4 using 1 { if(RI) { RI=0; //接收中断请求标志 received_data=SBUF; //接收到的数据放到SBUF中 } } /*************串口初始化*******************/ void initial_Serial() { SCON=0X50; //串口接收模式选择 PCON=0X80; //倍频 TMOD=0X20; //定时器工作模式选择，工作方式2，自动重装初值 TH1=TL1=-(2*FOSC/12/32/BAUD); //串口波特率57600，定时器初始值计算 TR1=1; //定时器1运行控制位 EA=1; //开总中断 ES=1; //开串口中断 } /*************延时函数*******************/ void delay_long(unsigned int uiDelayLong) { unsigned int i; unsigned int j; for(i=0;i<uiDelayLong;i++) { for(j=0;j<500;j++) //内嵌循环的空指令数量 { ; //一个分号相当于执行一条空语句 } } } /*********运动方式选择*******/ void Go_choose() { //上下左右————前进，后退，左转，右转 //左摇杆 if(received_data==0x61) { kong_start(); run(); } if(received_data==0x62) { kong_start(); back(); } if(received_data==0x63) { kong_start(); left_turn(); } if(received_data==0x64) { kong_start(); right_turn(); } //红圆 粉方 绿三————左原地，右原地，划弧 if(received_data==0x65) { kong_start(); leftturn(); } if(received_data==0x66) { kong_start(); rightturn(); } if(received_data==0x67) { kong_start(); lateral(); } //手柄前1，2————右平移，左平移 if(received_data==0x68) { kong_start(); left(); } if(received_data==0x69) { kong_start(); right(); } //右摇杆上下左右————45度左前，右后，右前，左后 if(received_data==0x6a) { kong_start(); leftforward(); } if(received_data==0x6b) { kong_start(); rightbackward(); } if(received_data==0x6c) { kong_start(); rightforward(); } if(received_data==0x6d) { kong_start(); leftbackward(); } //停止判断标志 if(received_data==0x6e) { kong_stop(); stop(); } } /*********开启使能端*******/ void kong_start() { kong_rightfront=1; kong_leftfront=1; kong_rightback=1; kong_leftback=1; } //*********关闭使能端*******// void kong_stop() { kong_rightfront=0; kong_leftfront=0; kong_rightback=0; kong_leftback=0; } /*******直行***************/ void run() { //右前轮 rightfront_1 = 1; rightfront_2 = 0; //左前轮 leftfront_1 = 1; leftfront_2 = 0; //右后轮 rightback_1 = 1; rightback_2 = 0; //左后轮 leftback_1 = 1; leftback_2 = 0; } //*******后退***************// void back() { //右前轮 rightfront_1 = 0; rightfront_2 = 1; //左前轮 leftfront_1 = 0; leftfront_2 = 1; //右后轮 rightback_1 = 0; rightback_2 = 1; //左后轮 leftback_1 = 0; leftback_2 = 1; } /*******左转内侧轮慢一半***************/ void left_turn() { //右前轮 rightfront_1 = 1; rightfront_2 = 0; //右后轮 rightback_1 = 1; rightback_2 = 0; //左前轮 leftfront_1 = 1; leftfront_2 = 0; //左后轮 leftback_1 = 1; leftback_2 = 0; delay_long(10); //右前轮 rightfront_1 = 1; rightfront_2 = 0; //右后轮 rightback_1 = 1; rightback_2 = 0; //左前轮 leftfront_1 = 0; leftfront_2 = 0; //左后轮 leftback_1 = 0; leftback_2 = 0; delay_long(10); } /*******右转内侧轮慢一半***************/ void right_turn() { //右前轮 rightfront_1 = 1; rightfront_2 = 0; //右后轮 rightback_1 = 1; rightback_2 = 0; //左前轮 leftfront_1 = 1; leftfront_2 = 0; //左后轮 leftback_1 = 1; leftback_2 = 0; delay_long(10); //右前轮 rightfront_1 = 0; rightfront_2 = 0; //右后轮 rightback_1 = 0; rightback_2 = 0; //左前轮 leftfront_1 = 1; leftfront_2 = 0; //左后轮 leftback_1 = 1; leftback_2 = 0; delay_long(10); } //*******右移直行***************// void right() { //右前轮 rightfront_1 = 1; rightfront_2 = 0; //左前轮 leftfront_1 = 0; leftfront_2 = 1; //右后轮 rightback_1 = 0; rightback_2 = 1; //左后轮 leftback_1 = 1; leftback_2 = 0; } //*******左移直行***************// void left() { //右前轮 rightfront_1 = 0; rightfront_2 = 1; //左前轮 leftfront_1 = 1; leftfront_2 = 0; //右后轮 rightback_1 = 1; rightback_2 = 0; //左后轮 leftback_1 = 0; leftback_2 = 1; } //*******右移斜行***************// void rightforward() { //右前轮 rightfront_1 = 1; rightfront_2 = 0; //左前轮 leftfront_1 = 0; leftfront_2 = 0; //右后轮 rightback_1 = 0; rightback_2 = 0; //左后轮 leftback_1 = 1; leftback_2 = 0; } //*******左斜直行***************// void leftforward() { //右前轮 rightfront_1 = 0; rightfront_2 = 0; //左前轮 leftfront_1 = 1; leftfront_2 = 0; //右后轮 rightback_1 = 1; rightback_2 = 0; //左后轮 leftback_1 = 0; leftback_2 = 0; } //*******右后移斜行***************// void rightbackward() { //右前轮 rightfront_1 = 0; rightfront_2 = 0; //左前轮 leftfront_1 = 0; leftfront_2 = 1; //右后轮 rightback_1 = 0; rightback_2 = 1; //左后轮 leftback_1 = 0; leftback_2 = 0; } //*******左后斜直行***************// void leftbackward() { //右前轮 rightfront_1 = 0; rightfront_2 = 1; //左前轮 leftfront_1 = 0; leftfront_2 = 0; //右后轮 rightback_1 = 0; rightba