前言

当时刚学完单片机，参考了很多别人的代码，教程csdn上一搜就有，不过能做个东西觉得自己还挺厉害的，板子是学校发的散件，然后自己焊的，很好玩。买了一个底盘，两个l298n，其他不需要什么。

一、代码

前三个文件是一个单片机里的，最后一个文件是另一个单片机里面的。

car.h:
#ifndef __car_H
#define __car_H
#include <reg52.h>
#include <intrins.h>
sbit Left_moto_pwm1=P1^6 ;//使能端
sbit Right_moto_pwm1=P1^7;
sbit Left_moto_pwm2=P1^5 ;
sbit Right_moto_pwm2=P1^4;
sbit p20=P2^0;//IO控制端
sbit p21=P2^1;
sbit p22=P2^2;
sbit p23=P2^3;
sbit p24=P2^4;
sbit p25=P2^5;
sbit p26=P2^6;
sbit p27=P2^7;
sbit led0=P0^0;//测试灯
sbit led1=P0^1;
sbit led2=P0^2;
sbit led3=P0^3;
sbit led4=P0^4;
sbit led5=P0^5;
sbit led6=P0^6;
sbit led7=P0^7;
void Left_moto_go() ;
void Left_moto_back() ;
void Left_moto_stp() ;
void Right_moto_go();
void Right_moto_back(); 
void Right_moto_stp(); 
void delay(unsigned int k) ;
void delay1s(void) ;
void pwm_out_left_moto(void) ;
void pwm_out_right_moto(void);
void run(void);
void back(void);
void left(void);
void right(void);
void stop(void);
void rotate(void);
void singel_front_right();
void singel_front_left();
void singel_behind_right();
void singel_behind_left();
void single_front_left_go();
void single_front_right_go();
void single_behind_left_go();
void single_behind_right_go();
#endif

motor_control.c
#include <car.h>
unsigned char pwm_val_left =0;
unsigned char push_val_left =0; 
unsigned char pwm_val_right =0;
unsigned char push_val_right=0;
unsigned char Left_Speed_Ratio;
unsigned char Right_Speed_Ratio;
bit Left_moto_stop =1;
bit Right_moto_stop =1;
//前左ena 16 ; 24 in1 ; 25 in2 ; 26 in3 ; 27 in4 ; enb 17前右
//后左ena 15 ; 20 in1 ; 21 in2 ; 22 in3 ; 23 in4 ; enb 14后右
void Left_moto_go() 
{p20=0;p21=1;p24=0;p25=1;} 
void Left_moto_back() 
{p20=1;p21=0;p24=1;p25=0;} 
void Left_moto_stp()  
{p20=1;p21=1;p24=1;p25=1;} 
void Right_moto_go()  
{p22=0;p23=1;p26=0;p27=1;} 
void Right_moto_back() 
{p22=1;p23=0;p26=1;p27=0;}  
void Right_moto_stp()
{p22=1;p23=1;p26=1;p27=1;} 
void singel_front_right()
{p26=0;p27=1;}
void singel_front_left()
{p24=0;p25=1;}
void singel_behind_right()
{p22=0;p23=1;}
void singel_behind_left()
{p20=0;p21=1;}
void pwm_out_left_moto(void)   { 
if(Left_moto_stop) 
{ 
if(pwm_val_left<=push_val_left) 
{
Left_moto_pwm1=1;
Left_moto_pwm2=1;}
else 
{
Left_moto_pwm1=0; 
Left_moto_pwm2=0;
}
if(pwm_val_left>=10)
{   
pwm_val_left=0; 
} }
else 
{
Left_moto_pwm1=0; 
Left_moto_pwm2=0;
}} 
void pwm_out_right_moto(void)  //pwm调速，调整占空比快速闪烁达到模拟输出目的
{ 
if(Right_moto_stop) 
{ 
    if(pwm_val_right<=push_val_right) //小于设定值输出高电平
    {
        Right_moto_pwm1=1; 
        Right_moto_pwm2=1;
    }
    else                              //之后输出低电平
    {
        Right_moto_pwm1=0; 
        Right_moto_pwm2=0;
    }
    if(pwm_val_right>=10)            //只设定了十个速度等级
    {
        pwm_val_right=0; 
    }
} 
else 
{
    Right_moto_pwm1=0; 
    Right_moto_pwm2=0; 
}
} 
void run(void)     
{ 
push_val_left =Left_Speed_Ratio;    
push_val_right =Right_Speed_Ratio; 
Left_moto_go(); 
Right_moto_go(); 
} 
void back(void)   
{ 
push_val_left =Left_Speed_Ratio; 
push_val_right =Right_Speed_Ratio; 
Left_moto_back();
Right_moto_back();
} 
void left(void)   
{ 
push_val_left =Left_Speed_Ratio; 
push_val_right =Right_Speed_Ratio;
Right_moto_go(); 
Left_moto_stp();
}
 void right(void) 
{ 
push_val_left =Left_Speed_Ratio;
push_val_right =Right_Speed_Ratio;
Right_moto_stp();
Left_moto_go();
} 
void stop(void)  
{ 
push_val_left =Left_Speed_Ratio; 
push_val_right =Right_Speed_Ratio; 
Left_moto_stp();
Right_moto_stp();
} 
void rotate(void) 
{ 
push_val_left =Left_Speed_Ratio; 
push_val_right =Right_Speed_Ratio; 
Left_moto_back();
Right_moto_go();
} 
void  Speed_add(void) 
{
    if(Left_Speed_Ratio<10)
        {
    Left_Speed_Ratio++;
      Right_Speed_Ratio++;  
    }
    else 
        {
        Left_Speed_Ratio=8;
      Right_Speed_Ratio=8;  
    }
}
void  Speed_reduce(void) 
{
    if(Left_Speed_Ratio>0)
        {
        Left_Speed_Ratio--;
      Right_Speed_Ratio--;  
    }
    else 
        {
        Left_Speed_Ratio=3;
      Right_Speed_Ratio=3;  
    }
}
void  Speed_reset(void)
{
        Left_Speed_Ratio=5;
      Right_Speed_Ratio=5;  

}
void  single_front_left_go(void)
{
      push_val_left =Left_Speed_Ratio; 
    push_val_right =Right_Speed_Ratio; 
        singel_front_left();
}
void  single_front_right_go(void)
{
      push_val_left =Left_Speed_Ratio; 
    push_val_right =Right_Speed_Ratio; 
        singel_front_right();
}
void  single_behind_left_go(void)
{
      push_val_left =Left_Speed_Ratio; 
    push_val_right =Right_Speed_Ratio; 
        singel_behind_left();
}
void  single_behind_right_go(void)
{
      push_val_left =Left_Speed_Ratio; 
    push_val_right =Right_Speed_Ratio; 
        singel_behind_right();
}

main.c:
#include <car.h>
#include <intrins.h>
#include <reg52.h>
extern unsigned char Left_Speed_Ratio;
extern unsigned char Right_Speed_Ratio;
unsigned int time=0; 
unsigned char receive,receive_real_data;
extern unsigned char pwm_val_left;
extern unsigned char pwm_val_right;
void delay1s(void)   //1s
{
  unsigned char a,b,c;
  for(c=29;c>0;c--)
      for(b=35;b>0;b--)
          for(a=97;a>0;a--);
}

void delay10ms(void)   //10ms
{
    unsigned char b,c;
  for(c=10;c>0;c--)
      for(b=150;b>0;b--);
}

void TimerInit()
{
    TMOD=0X21;
    SCON=0x50;
    PCON=0x80;
    TH0=0XFC;   
    TL0=0X18;   
    TL1=TH1=0xF3;
    ET0=1;
    EA=1;
    TR0=1;  
    TR1=1;
    ES=1;
    led7=0;
}
void timer0()interrupt 1 using 2 
{ 
    TH0=0XFC;   
    TL0=0X18;
    time++; 
    pwm_val_left++; 
    pwm_val_right++; 
    pwm_out_left_moto(); 
    pwm_out_right_moto(); 
} 
void Com_Int(void) interrupt 4
{
  EA = 0;   
  if(RI == 1)
    {
        led5=!led5;
        RI = 0;
        receive = SBUF;
        if(receive!=0)
        receive_real_data=receive;
        switch(receive_real_data) 
          { 
                case 0x31: run();led0=!led0; break; 
                case 0x34: right();led1=!led1; break; 
                case 0x36: left(); led2=!led2;break; 
                case 0x39: back();led3=!led3; break; 
                case 0x35: stop(); led4=!led4;break;  
                case 0x32: rotate();break;
                case 0x30: Speed_add(); led5=!led5;break; 
                case 0x38: Speed_reduce(); led6=!led6;break;
                case 0x41: Speed_reset();break;
                case 0x44: single_behind_left_go();break;
                case 0x43: single_behind_right_go();break;
                default:stop();break;
            }
    }
  EA = 1; }
void main(){
    TimerInit();  
    Left_Speed_Ratio=5;   //初始速度
    Right_Speed_Ratio=5;    
    while(1);}

FA.c：
#include<reg51.h>
#define uchar unsigned char
uchar KeyValue=0;
uchar math,send;
sbit led=P0^0;
sbit led1=P0^1;
sbit led2=P0^2;
sbit led3=P0^3;
sbit led4=P0^4;
void delay(unsigned int time){
unsigned int j;
for(;time>0;time--)
for(j=0;j<125;j++);}
char key_buf[]={
0xee,0xde,0xbe,0x7e,
0xed,0xdd,0xbd,0x7d,
0xeb,0xdb,0xbb,0x7b,
0xe7,0xd7,0xb7,0x77};
void getkey(void) {
char key_scan[]={0xef,0xdf,0xbf,0x7f};
char i=0,j=0;
for(i=0;i<4;i++){
P2=key_scan[i];
led1=!led1;
if((P2&0x0f)!=0x0f){
delay(75);
if((P2&0x0f)!=0x0f){
for(j=0;j<16;j++){
if(key_buf[j]==P2){
led2=!led2;
switch(j){
case 0:SBUF=0x30;break;
case 1:SBUF=0x31;break;
case 2:SBUF=0x32;break;
case 3:SBUF=0x33;break;
case 4:SBUF=0x34;break;
case 5:SBUF=0x35;break;
case 6:SBUF=0x36;break;
case 7:SBUF=0x37;break;
case 8:SBUF=0x38;break;
case 9:SBUF=0x39;break;
case 10:SBUF=0x41;break;
case 11:SBUF=0x42;break;
case 12:SBUF=0x43;break;
case 13:SBUF=0x44;break;
case 14:SBUF=0x45;break;
case 15:SBUF=0x46;break;
default:led4=!led4;break;} 
while(TI==0);
TI=0;
break; }}}} }
while((P2&0x0f)!=0x0f);
delay(75);
while((P2&0x0f)!=0x0f);}
void main(void){
SCON=0x50; //4800
PCON=0x80;
TMOD=0x20;
TH1=TL1=0xf3;
TR1=1;
while(1){
  getkey();
led=!led;
}}