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本帖最后由 火柴貓 于 2019-3-19 17:09 編輯
#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
uchar Buffer[4] = {0}; //從串口接收的數據
uint i,j;
sbit Z1=P2^2; //左電機前進
sbit Z2=P2^1; //左電機后退
sbit Y1=P2^3; //右電機前進
sbit Y2=P2^4; //右電機后退
sbit ENA=P2^0;
sbit ENB=P2^5;
bit Right_moto_stp=1;
bit Left_moto_stp =1;
uchar pwm_val_left=0; //定義變量
uchar push_val_left=0; //左電機占空比為N/20
uchar pwm_val_right=0;
uchar push_val_right=0; //右電機占空比為N/20
void Delay_1ms(uint i)//1ms延時
{
uchar x,j;
for(j=0;j<i;j++)
for(x=0;x<=148;x++);
}
/********************************************************************
* 名稱 : Com_Int()
* 功能 : 串口中斷子函數
* 輸入 : 無
* 輸出 : 無
***********************************************************************/
void Com_Int(void) interrupt 4
{
EA = 0;
if(RI == 1) //當硬件接收到一個數據時，RI會置位
{
Buffer[0] = SBUF - 48; //這里減去48是因為從電腦中發送過來的數據是ASCII碼。
RI = 0;
}
EA = 1;
}
/********************************************************************
* 名稱 : Com_Init()
* 功能 : 串口初始化，晶振11.0592,波特率9600，使串口中斷
* 輸入 : 無
* 輸出 : 無
***********************************************************************/
void Com_Init(void)
{
TMOD = 0x20;
PCON = 0x00;
SCON = 0x50;
TH1 = 0xFd; //設置波特率 9600
TL1 = 0xFd;
TR1 = 1; //啟動定時器1
ES = 1; //開串口中斷
EA = 1; //開總中斷
}
void run1()
{
push_val_left=15;
push_val_right=15;
Z1=0;Z2=1;
Y1=0;Y2=1;
Delay_1ms(100);
}
void run2()
{
push_val_left=20;
push_val_right=20;
Z1=0;Z2=1;
Y1=0;Y2=1;
Delay_1ms(100);
}
void backrun()
{
push_val_left=20;
push_val_right=20;
Z1=1;Z2=0;
Y1=1;Y2=0;
Delay_1ms(100);
}
void left()
{
push_val_left=13;
push_val_right=13;
Z1=1;Z2=1;
Y1=0;Y2=1;
Delay_1ms(100);
}
void goleft()
{
push_val_left=20;
push_val_right=5;
Z1=0;Z2=1;
Y1=0;Y2=1;
Delay_1ms(100);
}
void backleft()
{
push_val_left=20;
push_val_right=5;
Z1=1;Z2=0;
Y1=1;Y2=0;
Delay_1ms(100);
}
void right()
{
push_val_left=13;
push_val_right=13;
Z1=0;Z2=1;
Y1=1;Y2=1;
Delay_1ms(100);
}
void goright()
{
push_val_left=5;
push_val_right=20;
Z1=0;Z2=1;
Y1=0;Y2=1;
Delay_1ms(100);
}
void backright()
{
push_val_left=5;
push_val_right=20;
Z1=1;Z2=0;
Y1=1;Y2=0;
Delay_1ms(100);
}
void stop()
{
Z1=0;Z2=0;
Y1=0;Y2=0;
Delay_1ms(100);
}
void pwm_out_left_moto(void) //左電機調速,調節push_val_left的值改變電機轉速,占空比
{
if(Left_moto_stp)
{
{if(pwm_val_left<=push_val_left)
{ ENB=1;}
else
{ENB=0;}
}
{if(pwm_val_left>=20)
{pwm_val_left=0;}
}
}
else
{ENB=0;}
}
void pwm_out_right_moto(void) //右電機調速,調節push_val_left的值改變電機轉速,占空比
{
if(Right_moto_stp)
{
if(pwm_val_right<=push_val_right)
{ENA=1;}
else
{ENA=0;}
if(pwm_val_right>=20)
{pwm_val_right=0;}
}
else
{ENA=0;}
}
/*TIMER0中斷服務函數產生PWM信號*/
void timer0 ()interrupt 1
{
TH0=0XEC; //5ms定時
TL0=0X30;
pwm_val_left++;
pwm_val_right++;
pwm_out_left_moto();
pwm_out_right_moto();
}
void main()
{
Delay_1ms(100);
Com_Init();//串口初始化
TMOD|=0X01;
TH0= 0XFC; //2ms定時
TL0= 0X30;
TR0= 1;
ET0= 1;
EA = 1;
stop();
while(1)
{
switch(Buffer[0])
{
case 1: run1(); break;
case 2: run2(); break;
case 4: stop(); break;
case 5: backrun(); break;
case 6: left(); break;
case 7: goleft(); break;
case 8: backleft(); break;
case 9 : right(); break;
case 0 : goright(); break;
case 3 : backright(); break;
default:stop();break;
}
}
}
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