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標題: 藍牙小車，可控制機械臂可控制車方向的程序（手機程序或者上位機程序自己編寫） [打印本頁]

作者: 磊雷雷 時間: 2018-10-19 02:40
標題: 藍牙小車，可控制機械臂可控制車方向的程序（手機程序或者上位機程序自己編寫）
//       HAL_UART_Transmit_DMA(&huart1, "start\r\n",7);
  while (1)
  {

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
               if(UsartType.RX_flag)          // Receive flag
            {
                     UsartType.RX_flag=0;       // clean flag
                     HAL_UART_Transmit(&huart2, UsartType.RX_pData, UsartType.RX_Size, 0xFFFF);
            }
            //用led控制爪子也就是6號舵機的開關
            //用蜂鳴器控制形態的切換
            switch(UsartType.RX_pData[0])
            {
                     //進入控制舵機的指令
                     case 0x21:
                              yunxing_flag = 0;
                              che_flag = 0;
                              break;
                     //進入車的運行指令
                     case 0x20:
                              yunxing_flag = 1;
                              break;
                     case 0x30:
//                               yunxing_flag = 1;
                              che_flag = 1;
                              break;
                     case 0x3f:
//                               yunxing_flag = 1;
                              che_flag = 2;
                              break;
                     case 0x31:
//                               yunxing_flag = 1;
                              che_flag = 3;
                              break;
                     case 0x32:
//                               yunxing_flag = 1;
                              che_flag = 4;
                              break;
                     //爪子開
                     case 0x11:
                              che_flag = 5;
                              break;
                     //爪子關
                     case 0x10:
                              che_flag = 6;
                              break;
                     case 0xff:
                              che_flag = 0;
                              break;
            }
//車運行程序
            if(yunxing_flag==1&&che_flag==1)
            {
                     PWM_Change_Duty(80,0,80,0);
            }
            if(yunxing_flag==1&&che_flag==2)
            {
                     PWM_Change_Duty(0,80,0,80);
            }
            if(yunxing_flag==1&&che_flag ==3)
            {
                     PWM_Change_Duty(70,0,0,70);
            }
            if(yunxing_flag==1&&che_flag == 4)
            {
                     PWM_Change_Duty(0,70,70,0);
            }
            if(che_flag==0||yunxing_flag == 0)
            {
                     PWM_Change_Duty(0,0,0,0);
            }
//             HAL_Delay(100);
//舵機運行函數
#if 1
            if(yunxing_flag==0&&che_flag==1)
            {
                     UsartType.RX_pData[0] = '\0';
                     if(j>10)
                     {
                              j --;
                     }
                     else
                     {
                              j++;
                     }
                     HAL_UART_Transmit_IT(&huart1,&ErHao[j][18],strlen(&ErHao[j][18]));
                     HAL_Delay(100);
            }
            if(yunxing_flag==0&&che_flag==2)
            {
                     UsartType.RX_pData[0] = '\0';
                     if(j<72)
                     {
                              j ++;
                     }
                     else
                     {
                              j--;
                     }
                     HAL_UART_Transmit_IT(&huart1,&ErHao[j][18],strlen(&ErHao[j][18]));
                     HAL_Delay(100);
            }


            //四號舵機動作的左和右
            if(yunxing_flag==0&&che_flag ==3)
            {
                     UsartType.RX_pData[0] = '\0';
                     if(l<35)
                     {
                              l++;
                     }
                     else
                     {
                              l--;
                     }
                     HAL_UART_Transmit_IT(&huart1,&SiHao[l][18],strlen(&SiHao[l][18]));
                     HAL_Delay(100);
            }
            if(yunxing_flag==0&&che_flag == 4)
            {
                     UsartType.RX_pData[0] = '\0';
                     if(l>5)
                     {
                              l --;
                     }
                     else
                     {
                              l++;
                     }
                     HAL_UART_Transmit_IT(&huart1,&SiHao[l][18],strlen(&SiHao[l][18]));
                     HAL_Delay(100);
            }



            //爪子開與關
            if(yunxing_flag==0&&che_flag == 5)
            {
                     UsartType.RX_pData[0] = '\0';
                     if(k>35)
                     {
                              k = k-17;
                     }
                     HAL_UART_Transmit_IT(&huart1,&SanHao[k][18],strlen(&SanHao[k][18]));
                     HAL_Delay(100);

            }
            if(yunxing_flag==0&&che_flag == 6)
            {
                     UsartType.RX_pData[0] = '\0';
                     if(k<35)
                     {
                              k = k+17;
                     }
                     HAL_UART_Transmit_IT(&huart1,&SanHao[k][18],strlen(&SanHao[k][18]));
                     HAL_Delay(100);
            }

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作者: admin 時間: 2018-10-19 03:37
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