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標(biāo)題: 二驅(qū)智能藍(lán)牙小車程序(顯示屏，溫度監(jiān)測) [打印本頁]

作者: Sndexzeo21 時間: 2018-6-27 13:21
標(biāo)題: 二驅(qū)智能藍(lán)牙小車程序(顯示屏，溫度監(jiān)測)
智能藍(lán)牙小車程序:
#include <reg52.H>
#include <intrins.H>
#include <math.H>
#define uchar unsigned char
#define uint unsigned int
//**************************端口定義函數(shù)***************************/
sbit RS = P0^5;
sbit rw=P0^6;
sbit EN = P0^7;
sbit a1=P0^0;
sbit a2=P0^1;
sbit a3=P0^2;
sbit a4=P0^3;
sbit ds=P3^7;
uchar a;//接收藍(lán)牙發(fā)送的數(shù)據(jù)
//**********************2驅(qū)小車前進(jìn)定義函數(shù)***********************/
void go()//前進(jìn)
{  a1=1;//左前
a2=0;
a3=1;//左后
a4=0;

}
//**********************兩驅(qū)小車前進(jìn)定義函數(shù)***********************/
void back()//后退
{ a1=0;
a2=1;
a3=0;
a4=1;
}
void right()//右轉(zhuǎn)
{ a1=0;//
a2=1;
a3=1;//
a4=0;
}

void left()//左轉(zhuǎn)
{ a1=1;
a2=0;
a3=0;
a4=1;
}

void stop()//停止
{ a1=0;
a2=0;
a3=0;
a4=0;
}

void delayus()
{  _nop_();
}
void delayms(uint a)
{ uint ii, jj;
for(ii=a; ii>0;ii--)
for(jj=100;jj>0;jj--);
}
//*******************LCD1602液晶顯示函數(shù)部分**********************/
void writeComm(uchar comm)
{ RS = 0;
P2 = comm;
EN = 1;
delayus();
EN = 0;
delayms(1);
}
//寫數(shù)據(jù):RS=1, RW=0;
void writeData(uchar dat)
{ RS = 1;
   P2 = dat;
   EN = 1;
delayus();
EN = 0;
delayms(1);
}
void init()
{ rw=0;
writeComm(0x38);
writeComm(0x0c);
writeComm(0x06);
writeComm(0x01);
}
void writeString(uchar * str, uchar length)
{
   uchar tt;
for(tt = 0; tt < length; tt++)
{    writeData(str[tt]);
   }
}

//**********************DS18B20函數(shù)部分************************/

void dsInit()
{ unsigned int tt;
ds = 0;
tt = 100;
   while(tt>0) tt--;
ds = 1;
tt= 4;
   while(tt>0) tt--;
}

void dsWait()
{    unsigned int ii;
   while(ds);
   while(~ds);
   ii = 4;
   while(ii> 0) ii--;
}
bit readBit()
{ unsigned int ii;
bit b;
ds = 0;
ii++;
ds = 1;
ii++; ii++;
b = ds;
ii = 8;
while(ii>0) ii--;
return b;
}
unsigned char readByte()
{ unsigned int i;
unsigned char j, dat;
dat = 0;
for(i=0; i<8; i++)
{    j=readBit();
      dat=(j << 7)|(dat>>1);
}
return dat;
}
void writeByte(unsigned char dat)
{  unsigned int ii;
unsigned char jj;
bit mm;
for(jj = 0; jj < 8; jj++)
{ mm = dat & 0x01;
      dat >>= 1;
if(mm)
   {    ds = 0;       ii++; ii++;
         ds = 1;
         ii = 8; while(ii>0) ii--;
      }
      else
      {       ds = 0;
      ii = 8; while(ii>0) ii--;
         ds = 1;
         ii++; ii++;
      }
}
}
void sendChangeCmd()
{ dsInit();
dsWait();
delayms(1);
writeByte(0xcc);
writeByte(0x44);
}

void sendReadCmd()
{ dsInit();
dsWait();
delayms(1);
writeByte(0xcc);
writeByte(0xbe);
}
int getTmpValue()
{ unsigned int tmpvalue;
int value;
float t;
unsigned char low, high;
sendReadCmd();
low = readByte();
high = readByte();
tmpvalue = high;
tmpvalue <<= 8;
tmpvalue |= low;
value = tmpvalue;
t = value * 0.0625;
    value = t * 100 + (value > 0 ? 0.5 : -0.5); //大于0加0.5, 小于0減0.5
return value;
}
void display(int v)
{
unsigned char count;
unsigned char shuju[] = {0, 0, 0, 0, 0};
unsigned int temp = abs(v);
shuju[0] = temp / 10000;
shuju[1] = temp % 10000 / 1000;
shuju[2] = temp% 1000 / 100;
shuju[3] = temp% 100 / 10;
shuju[4] = temp% 10;
writeComm(0x80+8);
if(v < 0)
{
      writeString("- ", 2);
}
else
{
   writeString("+ ", 2);
}
if(shuju[0] != 0)
{
      writeData('0'+shuju[0]);
}
for(count = 1; count != 5; count++)
{
      writeData('0'+shuju[count]);
      if(count == 2)
      {
         writeData('.');
      }
}
}
//*********************DS18B20函數(shù)結(jié)束**************************/

void main()
{
uchar table[] = "OK Temp:";
sendChangeCmd();
init();
writeComm(0x80);
writeString(table, 8);

//串口通信初始化
    TMOD=0x20;//定時器1工作方式2，8位自動重裝
TH1=0xFd; //11.0592M晶振，9600波特率　
TL1=0xFd;
SCON=0x50;//串口方式1
PCON=0x00;//SMOD=0
TR1=1;//開啟定時器1
    ES=1;//開串口中斷
EA=1;//開總中斷

while(1)
{
      delayms(1000); //溫度轉(zhuǎn)換時間需要在750ms以上
  //    writeComm(0xc0);
writeComm(0x80);
      display(getTmpValue());
      sendChangeCmd();
if(a=='A') go();//前進(jìn)
else if(a=='B') back();//后退
else if(a=='C') left();//左轉(zhuǎn)
else if(a=='D') right();//右轉(zhuǎn)
else stop();//停止
}
}
void chuankou()interrupt 4//中斷函數(shù)
{
RI=0;//清0
a=SBUF;
}

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