基于51单片机的蓝牙遥控小车

基于单片机的智能避障遥控小车

SBUF = '1';

bluetoothdata = 'a'; break;

case '2':cntPWM1 = 100; cntPWM2 = 100; delay_long(100); SBUF = '2';

bluetoothdata = 'a'; break;

case '3':cntPWM1 = 140; cntPWM2 = 140; delay_long(100); SBUF = '3';

bluetoothdata = 'a'; break; }

基于单片机的智能避障遥控小车

}

void usart_receive(void) interrupt 4 //串口中断程序 {

if(RI == 1)//收到字符 {

RI = 0;//软件清零 bluetoothdata = SBUF;//读取数据 }

if(TI == 1)//发送数据 {

TI = 0;//清零 }

基于单片机的智能避障遥控小车

}

void T0_time() interrupt 1 //定时器1中断程序 {

PWMCnt1++; PWMCnt2++;

if(PWMCnt1 >= 200) {

PWMCnt1 = 1; }

if(PWMCnt1 <= cntPWM1) //230 {

PWM1 = 1; } else {

PWM1 = 0;

基于单片机的智能避障遥控小车

}

if(PWMCnt2 >= 200) {

PWMCnt2 = 1; }

if(PWMCnt1 <= cntPWM2) //230 {

PWM2 = 1; } else {

PWM2 = 0; }

TH0 = (65536 - 50) / 256; TL0 = (65536 - 50) % 256; }