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10.1小车的安装

10.2电机模块的开发（L9110S）

 10.3驱动电机模块让小车动起来（前后左右）

#include "reg52.h"
#include "intrins.h"sbit RightCon1A = P3^2;
sbit RightCon1B = P3^3;sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;void Delay1000ms()		//@11.0592MHz
{unsigned char i, j, k;_nop_();i = 8;j = 1;k = 243;do{do{while (--k);} while (--j);} while (--i);
}void goForward()
{LeftCon1A = 0;LeftCon1B = 1;RightCon1A = 0;RightCon1B = 1;
}void goRight()
{LeftCon1A = 0;LeftCon1B = 1;RightCon1A = 0;RightCon1B = 0;
}void goLeft()
{LeftCon1A = 0;LeftCon1B = 0;RightCon1A = 0;RightCon1B = 1;
}void goBack()
{LeftCon1A = 1;LeftCon1B = 0;RightCon1A = 1;RightCon1B = 0;
}void main()
{while(1){goForward();Delay1000ms();Delay1000ms();goBack();Delay1000ms();Delay1000ms();goLeft();Delay1000ms();Delay1000ms();goRight();Delay1000ms();Delay1000ms();}
}

10.4通过串口控制小车方向

        1.通过串口调试工具  利用串口中断

#include "reg52.h"
#include "motor.h"
#include <string.h>#define SIZE 12sfr AUXR = 0x8E;char buffer[SIZE];void UartInit(void)		//9600bps@11.0592MHz
{AUXR = 0x01;SCON = 0x50; //配置串口工作方式1，REN使能接收TMOD &= 0x0F;TMOD |= 0x20;//定时器1工作方式位8位自动重装TH1 = 0xFD;TL1 = 0xFD;//9600波特率的初值TR1 = 1;//启动定时器EA = 1;//开启总中断ES = 1;//开启串口中断
}//通过串口中断的方式进行 	M1 前 M2 后 M3左 M4右
void Uart_Handler() interrupt 4
{static int i = 0;//静态变量，被初始化一次char tmp;if(RI)//中断处理函数中，对于接收中断的响应{RI = 0;//清除接收中断标志位tmp = SBUF;if(tmp == 'M'){i = 0;}buffer[i++] = tmp;//灯控指令if(buffer[0] == 'M'){switch(buffer[1]){case '1':goForward();    break;case '2':goBack();break;case '3':goLeft();break;case '4':goRight();break;default:stop();break;}}if(i == 12){i = 0;memset(buffer, '\0', SIZE);}				}}

         2.通过蓝牙

10.5利用PWM对小车进行调速

//main.c
extern char speed;
void main()
{
Time0Init();
//UartInit();
while(1){
speed = 10;//10份单位时间全速运行，30份停止，所以慢，20ms是40份的500us
Delay1000ms();
Delay1000ms();
speed = 20;
Delay1000ms();
Delay1000ms();
speed = 40;
Delay1000ms();
Delay1000ms();
}
}
//time.c
#include "motor.h"
#include "reg52.h"
char speed;
char cnt = 0;
void Time0Init()
{
//1. 配置定时器0工作模式位16位计时
TMOD = 0x01;
//2. 给初值，定一个0.5出来
TL0=0x33;
TH0=0xFE;
//3. 开始计时
TR0 = 1;
TF0 = 0;
//4. 打开定时器0中断
ET0 = 1;
//5. 打开总中断EA
EA = 1;
}
void Time0Handler() interrupt 1
{
cnt++; //统计爆表的次数. cnt=1的时候，报表了1
//重新给初值
TL0=0x33;
TH0=0xFE;
//控制PWM波
if(cnt < speed){
//前进
goForward();
}else{
//停止
stop();
}
if(cnt == 40){//爆表40次，经过了20ms
cnt = 0; //当100次表示1s，重新让cnt从0开始，计算下一次的1s
}
}

10.6循迹小车

        1.循迹模块使用

 TCRT5000传感器的红外发射二极管不断发射红外线

当发射出的红外线 没有 被反射回来或被反射回来但强度不够大时，

红外接收管一直处于关断状态， 此时模块的输出端为高电平 ，指示二极管一直处于 熄灭状态

被检测物体出现在检测范围内时，红外线被反射回来且强度足够大，红外接收管饱和，

此时模块的输出端为 低电平 ，指示 二极管被点亮

//main.c#include "motor.h"
#include "delay.h"
#include "reg52.h"sbit Leftxunji  = P2^7;  //左循迹模块
sbit Rightxunji = P2^6;  //右循迹模块void main()
{while(1){/*下方小车两个模块都能反射回来红外，输出低电平，灯亮，直走
上方小车左模块遇到黑线，红外被吸收，左模块输出高电平，右模块输出低电平，左转，反之右转*/if(Leftxunji == 0 && Rightxunji == 0){goForward();//前进}if(Leftxunji == 1 && Rightxunji == 1){stop();     //停止}if(Leftxunji == 0 && Rightxunji == 1){goRight();  //向右}if(Leftxunji == 1 && Rightxunji == 0){goLeft();		//向左}}
}//motor.c#include "reg52.h"sbit RightCon1A = P3^2;
sbit RightCon1B = P3^3;sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;void goForward()
{LeftCon1A = 0;LeftCon1B = 1;RightCon1A = 0;RightCon1B = 1;
}void goRight()
{LeftCon1A = 0;LeftCon1B = 1;RightCon1A = 0;RightCon1B = 0;
}void goLeft()
{LeftCon1A = 0;LeftCon1B = 0;RightCon1A = 0;RightCon1B = 1;
}void goBack()
{LeftCon1A = 1;LeftCon1B = 0;RightCon1A = 1;RightCon1B = 0;
}void stop()
{LeftCon1A = 0;LeftCon1B = 0;RightCon1A = 0;RightCon1B = 0;
}

语音控制小车 SU-03T LD3320