基于51单片机的蓝牙小车

#include "reg51.h" #define uchar unsigned char sbit int1=P0^0; sbit int2=P0^1; sbit int3=P0^2; sbit int4=P0^3; sbit ENA=P1^0; sbit ENB=P1^1; sfr AUXR=0x8E; char m; char k; //设置左边两轮子 10正转 01反转 //右边两轮子 01正转 10反转 void stop() { int1=0; int2=0; int3=0; int4=0; } void back() { int1=0; int2=1; int3=1; int4=0; } void forward() { int1=1; int2=0; int3=0; int4=1; } void right() { int1=1; int2=0; int3=1; int4=0; } void left() { int1=0; int2=1; int3=0; int4=1; } void sendByte(char data_msg) { SBUF=data_msg; while(!TI); TI=0; } void sendString(char *str) { while(*str!='\0') { sendByte(*str); str++; } } void UartInit(void) //[email protected] { PCON &= 0x7F; //?????? SCON = 0x50; //8???,????? AUXR &= 0xBF; //???1???Fosc/12,?12T AUXR &= 0xFE; //??1?????1??????? TMOD &= 0x0F; //?????1??? TMOD |= 0x20; //?????1?8??????? TL1 = 0xFD; //?????? TH1 = 0xFD; //???????? ET1 = 0; //?????1?? TR1 = 1; //?????1 } void delay_ms(uchar z); void main() { // SCON=0x50; // TMOD|=0x20; //设置T1为工作方式2 // TH1=0xfd; //装入初值，比特率9600 // TL1=0xfd; // TR1=1; //开启T1 // REN=1; //接收允许 // SM0=0; //方式1 // SM1=1; // EA=1; //开全局中断 // ES=1; //开串口中断 UartInit(); while(1) { for(k=0;k<200;k++) { delay_ms(10); ENA=0; ENB=0; delay_ms(30); ENA=1; ENB=1; } if(k==200) { k=0; } switch(m) { case '1': forward(); break; case '2': back(); break; case '3': left(); break; case '4': right(); break; case '5': stop(); break; } } } void uart_timer() interrupt 4 { if(RI) { RI=0; m=SBUF; } if(m=='1') { forward(); } } void delay_ms(uchar z) { uchar i,j; for(i=z;j>0;i--) for(j=110;j>0;j--); }