蓝牙小车源代码下载_course

上传的是智能小车的源代码，用51单片机控制，手机通过蓝牙可以控制小车的行驶，另外还有超声波避障功能，具体详见代码 相关下载链接：//download.csdn.net/download/songson

手机蓝牙控制51单片机小车问题_course

#include <reg52.h>//这是巡线小车，我想用手机 蓝牙HC05控制小车启动 但是一直不会动啊 求帮忙 时间紧迫啊 #define uchar unsigned char #define uint unsigned int sbit en1=P1^5; /* L298?Enable A 电机pwm*/ sbit en2=P1^0; /* L298?Enable B */ sbit s1=P1^4; /* L298?Input 1电机 */ sbit s2=P1^3; /* L298?Input 2 */ sbit s3=P1^2; /* L298?Input 3 */ sbit s4=P1^1; /* L298?Input 4 */ sbit R=P2^7;/* ¹âµçÓÒ传感器 */ sbit C=P2^6;/* center*/ sbit L=P2^5;/* left */ uchar HighRH = 0; //¸ßµçƽÖØÔصĸß×Ö½Ú uchar HighRL = 0; // uchar LowRH = 0; //µÍµçƽÖØÔصĵÍ×Ö½Ú uchar LowRL = 0; // uchar receiveData; uint key=0,i=0; void ConfigPWM(uint fr, uchar dc);//设置小车转速ÉèÖÃÕ¼¿Õ±È¡£µ÷½ÚתËÙ void GO(void) { s1=1; s2=0; s3=1; s4=0; } void TL(void) { s1=1; s2=0; s3=0; s4=1; } void TR(void) { s1=0; s2=1; s3=1; s4=0; } void STOP(void) { s1=1; s2=1; s3=1; s4=1; } void delay(uint l) { uint k,j; for(k=l;k>0;k--) for (j=110;j>0;j--); } void main() { ConfigPWM(100, 20); while(1) { if(key==1)//我想让手机发 1 就启动 { if(i==0) { GO(); delay(1000); i++; } //ÅжϿªÊ¼ if((R|C|L)==0) { STOP(); } if((L&R)==0&&(C==1)) { GO(); } if (L==1&&((C|R)==0)) { TL(); } if(R==1&&((L|C)==0)) { TR(); } if(((R&C)==1)&&(L==0))//Youó45¶È { TL(); if((L&C)==0&&(R==1)) TR(); } if((R&C&R)==1) { GO(); } if(((L&C)==1)&&R==0) { TL(); while(1) { if(((L&C)==1)&&R==0) { TL(); break; } if(((L&R)==0&&C==1)||((L&R&C)==1)) { GO(); } if(L==1&&((C|R)==0)) { TL(); } if((L|C)==0&&R==1) { TR(); } if(L==0&&((C&R)==1))//Ê®×Ö { GO(); break; } } } } else STOP(); } } /*open PWM,fr-ƵÂÊ,dc-Õ¼¿Õ±È */ void ConfigPWM(unsigned int fr, unsigned char dc){ uint high, low; unsigned long tmp; tmp = (11059200/12) / fr; //Ò»¸öÖÜÆÚËùÐè¼ÆÊýÖµ high = (tmp*dc) / 100; //¸ßµçƵËùÐè¼ÆÊýÖµ low = tmp - high; //µÍµçƽËùÐè¼ÆÊýÖµ high = 65536 - high + 12; //¼ÆËã¸ßµçƽµÄÖØÔØÖµ low = 65536 - low + 12;// HighRH = (unsigned char)(high>>8); //¸ßµçƽÖØÔØ HighRL = (unsigned char)high; LowRH = (unsigned char)(low>>8); //µÍµçƽÖØÔØ LowRL = (unsigned char)low; TMOD=0x21; //T0ÉèÖ÷½Ê½1 T1ÉèÖÃΪ2 TH0 = HighRH; //¸ßµçƽ TL0 = HighRL; ET0 = 1; TR0 = 1; /*bluetooth open*/ SCON=0X50; //ÉèÖÃΪ¹¤×÷·½Ê½1 PCON=0X00; //²¨ÌØÂʲ»¼Ó±¶/ TH1=0XFD; //¼ÆÊýÆ÷³õʼֵÉèÖã¬×¢ÒⲨÌØÂÊÊÇ9600µÄ TL1=0XFD; ES=1; //´ò¿ª½ÓÊÕÖÐ¶Ï EA=1; //´ò¿ª×ÜÖÐ¶Ï TR1=1; //´ò¿ª¼ÆÊýÆ÷ en1 = 1; //Êä³ö¸ßµçƽ en2 = 1; //Êä³ö¸ßµçƽ } /* T0 ÖжÏ,²úÉú PWM */ void InterruptTimer0() interrupt 1 { if (en1 == 1&&en2==1) { TH0 = LowRH; TL0 = LowRL; en1 = 0; en2 = 0; } else { TH0 = HighRH; TL0 = HighRL; en1 = 1; en2 = 1; } } void Usart() interrupt 4 //´®¿ÚͨÐÅÖÐ¶Ï { receiveData=SBUF;//³öÈ¥½ÓÊÕµ½µÄÊý¾Ý RI = 0;//Çå³ý½ÓÊÕÖжϱê־λ if((receiveData-48)=='1') key= 1; SBUF=receiveData;//½«½ÓÊÕµ½µÄÊý¾Ý·ÅÈëµ½·¢ËͼĴæÆ÷ while(!TI); //µÈ´ý·¢ËÍÊý¾ÝÍê³É TI=0; //Çå³ý·¢ËÍÍê³É±ê־λ }

基于51单片机的蓝牙遥控小车 PWM控制_course

最近在做一个蓝牙控制的小车，说说自己遇到的问题，及自己学习到的东西，最后发现绕了好大的圈，这方面的资料也不全，现在说说我的小车之路！ 这是一开始用普通键盘做的PWM调速程序！可以正常运行： #incl