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單片機源碼：

#include <REGX51.H>
#define uint unsigned int
#define uchar unsigned char
uchar Receive,i,qj,yz,zz,ht;
uint n;
uchar Recive_table[40];
void ms_delay(uint t)
{
uint i,j;
for(i=t;i>0;i--)
for(j=110;j>0;j--);
}
void us_delay(uchar t)
{
while(t--);
}
void Uart_Init() //使用定時器1作為波特率發生器（STC89C52、STC89C51、AT89C51等均可）
{
TMOD = 0x20;
SCON = 0x50;
TH1 = 0xFD;
TL1 = TH1;
PCON = 0x00;
EA = 1; //總中斷打開
ES = 1; //開串口中斷
TR1 = 1; //啟動定時器1
}
void Send_Uart(uchar value)
{
ES=0; //關閉串口中斷
TI=0; //清發送完畢中斷請求標志位
SBUF=value; //發送
while(TI==0); //等待發送完畢
TI=0; //清發送完畢中斷請求標志位
ES=1; //允許串口中斷
}
void ESP8266_Set(uchar *puf) // 數組指針*puf指向字符串數組
{
while(*puf!='\0') //遇到空格跳出循環
{
Send_Uart(*puf);
us_delay(5);
puf++;
}
us_delay(5);
Send_Uart('\r');
us_delay(5);
Send_Uart('\n');
}
void main()
{
Uart_Init();
ms_delay(2000);
ESP8266_Set("AT+CWMODE=2");
ms_delay(2000);
// ESP8266_Set("AT+RST");
// ms_delay(2000);
ESP8266_Set("AT+CWSAP=\"wifi\",\"123456789\",11,4"); //AT+CWSAP="wifi","123456789",11,4
ms_delay(2000);
ESP8266_Set("AT+CIPMUX=1");
ms_delay(2000);
ESP8266_Set("AT+CIPSERVER=1,5000");
ms_delay(2000);
ESP8266_Set("AT+CIPSTO=0");
ES=1;
qj=1;
zz=1;
yz=1;
ht=1;
while(1)
{
if((Recive_table[0]=='+')&&(Recive_table[1]=='I')&&(Recive_table[2]=='P'))
{
if((Recive_table[9]=='G')&&(Recive_table[10]=='P'))
{
if(Recive_table[15]=='0')
{
qj=0; //前進
zz=1;
yz=1;
ht=1;
}
else
if (Recive_table[15]=='1')
{
qj=1;
zz=1;
yz=1;
ht=0; // 后退
}
else
if (Recive_table[15]=='2')
{
// qj=1; //
zz=1;
yz=0; //右轉
// ht=1;
}
else
if (Recive_table[15]=='3')
{
// qj=1; //
zz=0; //左轉
yz=1;
// ht=1;
}
else
if (Recive_table[15]=='4')
{
qj=1; //
zz=1;
yz=1;
ht=1;
}
}
}
if(qj==0)
{
if((zz==0)|(yz==0))
{
;
}
else
{
P2=0x11;
ms_delay(10);
P2=0x22;
ms_delay(10);
P2=0x44;
ms_delay(10);
P2=0x88;
ms_delay(10);
}
}
if(ht==0)
{
if((zz==0)|(yz==0))
{
;
}
else
{
P2=0x88;
ms_delay(10);
P2=0x44;
ms_delay(10);
P2=0x22;
ms_delay(10);
P2=0x11;
ms_delay(10);
}
}
if(zz==0)
{
if(ht==1)
{
P2=0x01;
ms_delay(10);
P2=0x02;
ms_delay(10);
P2=0x04;
ms_delay(10);
P2=0x08;
ms_delay(10);
}
else
{
P2=0x08;
ms_delay(10);
P2=0x04;
ms_delay(10);
P2=0x02;
ms_delay(10);
P2=0x01;
ms_delay(10);
}
}
if(yz==0)
{
if(ht==1)
{
P2=0x10;
ms_delay(10);
P2=0x20;
ms_delay(10);
P2=0x40;
ms_delay(10);
P2=0x80;
ms_delay(10);
}
else
{
P2=0x80;
ms_delay(10);
P2=0x40;
ms_delay(10);
P2=0x20;
ms_delay(10);
P2=0x10;
ms_delay(10);
}
}
}
}
void Uart_Interrupt() interrupt 4
{
static uchar i=0;
if(RI==1)
{
RI=0;
Receive=SBUF;
Recive_table[ i]=Receive; if((Recive_table[ i]=='\n')){ i=0;} else i++; } else TI=0; }

復制代碼

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