#include "reg51.h"

sbit PWM1 = P2^0;//右后轮电机驱动使能

sbit PWM2 = P2^1;//左后轮电机驱动使能

sbit PWM3 = P2^2;//右前轮电机驱动使能

sbit PWM4 = P2^3;//左前轮电机驱动使能

sbit motor_control_1 = P0^0;//右后轮后退

sbit motor_control_2 = P0^1;//右后轮前进

sbit motor_control_3 = P0^2;//左后轮后退

sbit motor_control_4 = P0^3;//左后轮前进

sbit motor_control_5 = P0^4;//右前轮后退

sbit motor_control_6 = P0^5;//右前轮前进

sbit motor_control_7 = P0^6;//左前轮后退

sbit motor_control_8 = P0^7;//左前轮前进

unsigned char ucBluetoothData = 230;//设置初始速度最大值为255最小为125

unsigned char uclock = 0;//互斥量，俗称原子锁

unsigned int uiPWMCnt1 = 0;

unsigned int uiPWM1 = 230;

unsigned int uiPWMCnt2 = 0;

unsigned int uiPWM2 = 230;

unsigned int uiPWMCnt3 = 0;

unsigned int uiPWM3 = 230;

unsigned int uiPWMCnt4 = 0;

unsigned int uiPWM4 = 230;

unsigned char ucTempPWM;//设置中间变量

void initial_myself();

void initial_peripheral();

void T0_time();

void usart_service(void);

//void usart_send(unsigned char ucSendData);

void delay_long(unsigned int uiDelayLong);

void go_forward(void);//前进

void fall_back(void);//后退

void turn_left(void);//左转

void turn_right(void);//右转

void stop();//刹车

void main()

{

initial_myself();

delay_long(100);

initial_peripheral();

while(1)

{

usart_service();

//                delay_long(500);

}

}

//串口服务函数

void usart_service()

{

switch(ucBluetoothData)

{

case 0x04://前进

ucBluetoothData = 0x02;//避免一直触发

go_forward();

ucLock = 1;

uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;

ucLock = 0;

break;

case 0x05://左转

ucBluetoothData = 0x02;//避免一直触发

turn_left();

ucLock = 1;

uiPWM2 = uiPWM4= ucTempPWM / 4;

uiPWM3 =uiPWM1 = ucTempPWM;

ucLock = 0;

break;

case 0x06://右转

ucBluetoothData = 0x02;//避免一直触发

turn_right();

ucLock = 1;

uiPWM2 = uiPWM4 = ucTempPWM;

uiPWM3 =uiPWM1 = ucTempPWM / 4;

ucLock = 0;

break;

case 0x07://后退

ucBluetoothData = 0x02;//避免一直触发

fall_back();

ucLock = 1;

uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;

ucLock = 0;

break;

case 0x01:

ucBluetoothData = 0x02;//避免一直触发

stop();

ucLock = 1;

uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;

ucLock = 0;

break;

case 0x00:

ucBluetoothData = 0x02;//避免一直触发

stop();

ucLock = 1;

uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucTempPWM;

ucLock = 0;

break;

default :

break;

}

delay_long(100);

//                usart_send(ucBluetoothData);

//速度调节的数据

if(ucBluetoothData!=0x00&&ucBluetoothData!=0x01 && ucBluetoothData!=0x02 &&  ucBluetoothData!=0x04 && ucBluetoothData!=0x05 && ucBluetoothData!=0x06 && ucBluetoothData!=0x07)

{

ucLock = 1;

ucTempPWM = uiPWM1 = uiPWM2 = uiPWM3 = uiPWM4 = ucBluetoothData;

ucLock = 0;

}

}

void T0_time() interrupt 1

{

TF0 = 0;//清除中断标志

TR0 = 0;//关定时器

uiPWMCnt1 ++;

uiPWMCnt2 ++;

uiPWMCnt3 ++;

uiPWMCnt4 ++;

if(ucLock == 0)

{

if(uiPWMCnt1 > 255)

{

uiPWMCnt1 = 0;

}

if(uiPWMCnt1 < uiPWM1)

{

PWM1 = 1;

}

else

{

PWM1 = 0;

}

if(uiPWMCnt2 > 255)

{

uiPWMCnt2 = 0;

}

if(uiPWMCnt2 < uiPWM2)

{

PWM2 = 1;

}

else

{

PWM2 = 0;

}

if(uiPWMCnt3 > 255)

{

uiPWMCnt3 = 0;

}

if(uiPWMCnt3 < uiPWM3)

{

PWM3 = 1;

}

else

{

PWM3 = 0;

}

if(uiPWMCnt4 > 255)

{

uiPWMCnt4 = 0;

}

if(uiPWMCnt4 < uiPWM4)

{

PWM4 = 1;

}

else

{

PWM4 = 0;

}

}

TH0 = 0xff;

TL0 = 0x28;

TR0 = 1;///开定时器

}

void initial_myself()

{

TMOD = 0x01;//设置定时器0为工作方式1

TH0 = 0xff;

TL0 = 0x28;

//配置串口

SCON = 0x50;

TMOD = 0x21;

TH1 = TL1 = -(11095200L/12/32/9600);

IP = 0x10;

stop();

PWM1 = 1;

PWM2 = 1;

PWM3 = 1;

PWM4 = 1;

}

void initial_peripheral()

{

EA = 1;//开总中断

ES = 1;//允许串口中断

ET0 = 1;//允许定时器中断

TR0 = 1;//启动定时器

TR1 = 1;//

}

void usart_receive(void) interrupt 4

{

if(RI == 1)

{

RI = 0;

ucBluetoothData = SBUF;

//                uiSendCnt = 0;

}

else

{

TI = 0;

}

}

//void usart_send(unsigned char ucSendData)

//{

//        ES = 0;

//        TI = 0;

//        SBUF = ucSendData;

//        TI = 0;

//        ES = 1;

//

//}

void delay_long(unsigned int uiDelayLong)

{

unsigned int i;

unsigned int j;

for(i = 0 ; i < uiDelayLong ; i++)

{

for(j = 0; j < 500; j++);

}

}

void stop()//停止

{

motor_control_1 = 0;

motor_control_2 = 0;

motor_control_3 = 0;

motor_control_4 = 0;

motor_control_5 = 0;

motor_control_6 = 0;

motor_control_7 = 0;

motor_control_8 = 0;

}

void fall_back()

{

motor_control_1 = 1;

motor_control_2 = 0;

motor_control_3 = 1;

motor_control_4 = 0;

motor_control_5 = 1;

motor_control_6 = 0;

motor_control_7 = 1;

motor_control_8 = 0;

}

void go_forward()

{

motor_control_1 = 0;

motor_control_2 = 1;

motor_control_3 = 0;

motor_control_4 = 1;

motor_control_5 = 0;

motor_control_6 = 1;

motor_control_7 = 0;

motor_control_8 = 1;

}

void turn_left()//左转

{

motor_control_1 = 0;

motor_control_2 = 1;

motor_control_3 = 0;

motor_control_4 = 1;

motor_control_5 = 0;

motor_control_6 = 1;

motor_control_7 = 0;

motor_control_8 = 1;

}

void turn_right()//右转

{

motor_control_1 = 0;

motor_control_2 = 1;

motor_control_3 = 0;

motor_control_4 = 1;

motor_control_5 = 0;

motor_control_6 = 1;

motor_control_7 = 0;

motor_control_8 = 1;

}