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
keil uVersion4的安装卸载+破解
51单片机和HC05蓝牙模块对接成功，但是数据收发时候发现数据很多时候对不上问题解决
51单片机的中断系统（一）
51单片机的中断系统（二）
51单片机的中断系统（三）
51单片机的中断系统（四）
51单片机的中断系统（五）
51单片机的中断系统（六）
晶振的抉择：12M和11.0592M的选择
51单片机的中断系统（七）通信的一些概念
89c52 EEPROM使用
51单片机，计时器0，11.0592M晶振,工作方式1，几个常用的定时器初始值
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) 0 5 10 15 ... 95
(%1) 1 6 11 16 ... 96
(%2) 2 7 12 17 ... 97
(%3) 3 8 13 18 ... 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;
}
}