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; }
