#include<AT89x51.H>
#define Leftgo {P1_2=1,P1_3=0;} //左电机前
#define Leftback {P1_2=0,P1_3=1; //左电机后
#define LeftStop {P1_2=0,P1_3=0;} // 左电机停
#define Rightgo {P1_4=1,P1_5=0;}
#define Rightback {P1_4=0,P1_5=1;
#define RightStop {P1_4=0,P1_5=0;}
#define left 'C'
#define right 'D'
#define up 'A'
#define down 'B'
#define stop 'F'
#define uint unsigned int
#define uchar unsigned char
char code str[] = "向前!\n";
char code str1[] = "向后!\n";
char code str2[] = "向左\n";
char code str3[] = "向右!\n";
char code str4[] = "停!\n";
bit flag_ly=0; //蓝牙
bit flag =0;
bit flag_bz =0; //红外避障
unsigned char i=0;
unsigned char dat=0;
unsigned char buff[5]=0；//接受缓冲字节
#define Lled P2^6 //左红外传感器
#define Rled P2^5 //右红外传感器
sbit BUZZ = P2^1; //蜂鸣器
/************************************************************************/
//延时函数
void delay(unsigned int k)
{
unsigned int x,y;
for(x=0;x<k;x++)
for(y=0;y<2000;y++);
}
/************************************************************************/
//字符串发送函数
void send_str( ) // 传送字符
{
unsigned char i = 0;
while(str[i] != '\0')
{
SBUF = str[i];
while(!TI); // 等待字符串送
TI = 0; //清楚字符串送标志
i++; // 下一个字符
}
}
void send_str1( )
{
unsigned char i = 0;
while(str1[i] != '\0')
{
SBUF = str1[i];
while(!TI);
TI = 0
i++;
}
}
void send_str2( )
{
unsigned char i = 0;
while(str2[i] != '\0')
{
SBUF = str2[i];
while(!TI);
TI = 0;
i++;
}
}
void send_str3()
{
unsigned char i = 0;
while(str3[i] != '\0')
{
SBUF = str3[i];
while(!TI);
TI = 0
i++;
}
}
void send_str4()
{
unsigned char i = 0;
while(str4[i] != '\0')
{
SBUF = str4[i];
while(!TI);
TI = 0;
i++;
}
}
/************************************************************************/
void run(void)
{
Leftgo ;
Rightgo ;
}
void backrun(void)
{
Leftback ;
Rightback ;
}
void rightrun(void)
{
Leftgo ;
Rightback ;
}
void leftrun(void)
{
Leftback ;
Rightgo ;
}
void stoprun(void)
{
LeftStop ;
RightStop ;
}
/************************************************************************/
void sint() interrupt 4 //中断接受三个字节
{
if(RI) //是否接受中断
{
RI=0;
dat=SBUF;
if(dat=='O'&&(i==0)) //接受数据第一帧
{
buff[i]=dat;
flag=1; //开始接受数据
}
else
if(flag==1)
{
i++;
buff[i]=dat;
if(i>=2)
{i=0;flag=0;flag_ly=1 ;} //停止接收
}
}
}
/*********************************************************************/
void main(void)
{
P1=0X00; //关电机
BUZZ=0;
delay(50);
BUZZ=1;
TMOD=0x20;
TH1=0xFd; //11.0952,9600波特率
TL1=0xFd;
SCON=0x50;
PCON=0x00;
TR1=1;
ES=1;
EA=1;
while(1)
{
if(flag_bz == 1) //切换到避障模式
{
if(Lled==1&&Rled==1)
run();
else
{
if(Lled==1&&Rled==0) //右边检测到红外信号
{
leftrun();
delay(40);
}
if(Rled==1&&Lled==0)
{
rightrun();
delay(40);
}
if(Rled==0&&Lled==0)
{
backrun();
delay(40);
rightrun();
delay(90);
}
}
}
if(flag_ly==1)
{
flag_ly=0;
if(buff[0]=='O'&&buff[1]=='N') //第一个字节为0，第二个字节为N，第三个字节为控制码
switch(buff[2])
{
case up :
send_str( );
flag_bz = 1;
break;
case down:
send_str1( );
flag_bz = 0;
backrun();
break;
case left:
send_str3( );
leftrun();
flag_bz = 0;
break;
case right:
send_str2( );
rightrun();
flag_bz = 0;
break;
case stop:
send_str4( );
stoprun();
flag_bz = 0;
break;
}
}
}
}
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