首先可能是你想实现的蓝牙小车效果(点击下面跳转B站)

关于51单片机基础

关于51单片机蓝牙电车驱动程序

L298N电机驱动

步进电机驱动

舵机驱动

蓝牙模块串口通信

PWM调速

#include "reg52.h" //此文件中定义了单片机的一些特殊功能寄存器

typedef unsigned int u16; //对数据类型进行声明定义

typedef unsigned char u8;

//是否是前进

bit isFoward = 0;

//是否后退

bit isBack = 0;

//控制行驶电机

sbit EN_A = P0^0;

sbit IN_A1 = P0^1;

sbit IN_A2 = P0^2;

sbit IN_B1 = P0^3;

sbit IN_B2 = P0^4;

sbit EN_B = P0^5;

//是否行使总开关

bit ALL_EN = 0;

u8 speedNum = 10;

//步进电机转动

int harfMotoNum = 10;

int currentMotoNum = 15;

sbit r_pwm = P3^7;

void initFunc(){

P0 = 0x00;

//首先设置TMOD工作方式

TMOD = 0x21;

PCON = 0x00;

SCON = 0x50;

//计算初始值设定

TH1 = 0xFD;

TL1 = 0xFD;

//打开

TR1 = 1;

//打开串口中断

ES = 1;

TH0=0XFF;//给定时器赋初值，定时1ms

TL0=0XA3;

ET0=1;//打开定时器0中断允许

EA=1;//打开总中断

TR0=1;//打开定时器

}

void checkRun(){

if(isFoward){

EN_A = ALL_EN;

IN_A1 = 0;

IN_A2 = 1;

} else if(isBack){

EN_A = ALL_EN;

IN_A1 = 1;

IN_A2 = 0;

}

else{

EN_A = ALL_EN;

IN_A1 = 0;

IN_A2 = 0;

}

}

u8 motoDriveRecord = 0;

bit motoNeedRun = 0;

void main()

{

initFunc();

while(1)

{

checkRun();

}

}

u8 systemCount = 0;

u8 row = 0;

u8 colum = 0;

u8 judgeNum = 0;

bit leftOrRight = 0; //旋转方向，0左，1右

void Timer0() interrupt 1

{

TH0=0XFF;//给定时器赋初值，定时1ms

TL0=0XA3;

/*********************** 定时器控制PWM调速 **************************/

/* (/0)(/1)(/2)(/3) (/19)

(%0)05 1015...95

(%1)161116 ...96

(%2)271217 ...97

(%3)381318 ...98

(%4)4+9+14+19+...99

*/

if(systemCount >= 1000)

systemCount = 0;

row = ((systemCount/10) % 5);//这时候取值是0,1,2

colum = (systemCount/10) / 5;//取值为0-19；

judgeNum = row * 20 + colum;

if(judgeNum < speedNum){

ALL_EN = 1;

}else{

ALL_EN = 0;

}

/*********************** 舵机控制 **************************/

if((systemCount%200) == 0){

r_pwm = 1;

}

if((systemCount%200) >= currentMotoNum){

r_pwm = 0;

}

systemCount++;

}

//中断事件

u8 receivedData;

u8 operation;

void Usart() interrupt 4

{

if(RI == 1) { //如果收到.

//定义一个变量，接收数据

receivedData = SBUF;

if (receivedData == 101){

//前进

isFoward = 1;

isBack = 0;

ALL_EN = 1;

}else if(receivedData == 102){

//后退

isFoward = 0;

isBack = 1;

ALL_EN = 1;

}else if(receivedData == 103){

//停止

isFoward = 0;

isBack = 0;

ALL_EN = 0;

}else if(receivedData == 104){

//调整行驶速度

operation = receivedData;

}else if(receivedData == 105){

//调整方向

operation = receivedData;

}else if(receivedData == 106){

//校准方向

currentMotoNum = harfMotoNum + 5;

}else if(receivedData <= 100){

if(operation == 104){

if(receivedData >= 0 && receivedData <= 100){

speedNum = receivedData;

}

}else if(operation == 105){

if(receivedData >= 0 && receivedData <= harfMotoNum * 2){

currentMotoNum = receivedData + 5;

}

}

}

RI = 0;

}

}