[问答]

求助PS2控制小车问题

问答对人有帮助，内容完整，我也想知道答案 0 一段基于STC12C5A60S2的手柄控制小车的程序，其他案件都可以控制，但是加减速度两个按键按下去只是加减一瞬间。就回到原来的速度。。。。求助大神啊，瞎摆弄好几天了。。。直接用宏定义小车加速没反应，单独写又只加速一瞬间。 #include "STC12C5A60S2.h" #include "stdio.h" //#include "uart_printf.h" #include "ps2.h" #define SPIF (SPSTAT&0X80) #define ON 1 //使能LED #define OFF 0 //禁止LED //unsigned char SPI_Buffer=0; //定义电机引脚 *it Left_motor_go=P2^1; //左电机前进AIN2 it Left_motor_back=P2^2; //左电机后退AIN1 it Right_motor_go=P2^4; //右电机前进BIN2 it Right_motor_back=P2^3; //右电机后退BIN1 it Left_motor_pwm=P2^0; //左电机控速PWMA it Right_motor_pwm=P2^5; //右电机控速PWMB unsigned char pwm_val_left =0;//变量定义 unsigned char pwm_val_right =0; //速度调节变量 0-20,0最小,20最大 unsigned char push_val_left =5;// 左电机占空比push_val_left/20 unsigned char push_val_right=5;// 右电机占空比push_val_right/20 it FM=P2^7; //蜂鸣器 it LED_B=P3^4; it LED_G=P3^2; it LED_R=P3^3; bit Left_PWM_ON=1; bit Right_PWM_ON=1; //unsigned char SPI_Rec_flag; unsigned char time; //unsigned char scan[9]; unsigned char FIRE; //小车运行状态枚举 enum{ enSTOP = 0, enRUN, enBACK, enLEFT, enRIGHT, enUPLEFT, enUPRIGHT, enDOWNLEFT, enDOWNRIGHT, enSPINLEFT, enSPINRIGHT }enCarState; / #define enMinMin() {push_val_left =20;push_val_right =20;} #define enMin() {push_val_left =24;push_val_right =24;} #define enMidle() {push_val_left =28;push_val_right =28;} #define enMax() {push_val_left =32;push_val_right =32;} / #define enMinMin() do{ push_val_left =5; push_val_right =5; }while(0) #define enMin() do{ push_val_left =10; push_val_right =10; }while(0) #define enMidle() do{ push_val_left =15; push_val_right =15; }while(0) #define enMax() do{ push_val_left =20; push_val_right =20; }while(0) / #define enMin() {push_val_left =24;push_val_right =24;} #define enMidle() {push_val_left =28;push_val_right =28;} #define enMax() {push_val_left =32;push_val_right =32;} / //uchar g_volume=0; int g_volume = 0; int g_carstate = 0; //延时函数 void delay(unsigned int xms) { unsigned int i,j; for(i=xms;i>0;i--) for(j=850;j>0;j--); } void pwm_out_left_motor(void) //左电机调速 { if(Left_PWM_ON) { if(pwm_val_left<=push_val_left) { Left_motor_pwm =1; } else { Left_motor_pwm=0; } if(pwm_val_left>=20) //这里的20代表的是pwm为20ms即50hz pwm_val_left=0; } else { Left_motor_pwm=0; //若未开启PWM则PWMA=0 左电机停止 } } void pwm_out_right_motor(void) //右电机调速 { if(Right_PWM_ON) { if(pwm_val_right<=push_val_right) { Right_motor_pwm=1; } else { Right_motor_pwm=0; } if(pwm_val_right>=20) //这里的20代表的是pwm为20ms即50hz pwm_val_right=0; } else { Right_motor_pwm=0; //若未开启PWM则PWMB=0右电机停止 } } // 小车前进 void run(unsigned int time) { //左电机前进 Left_motor_go = 1; //左电机前进使能 Left_motor_back = 0; //左电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） //push_val_left=10; //右电机前进 Right_motor_go=1; //右电机前进使能 Right_motor_back=0; //右电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） //push_val_right=10; //延时 delay(time 100); return; } // 小车停止 void brake(unsigned int time) { //左电机停止 Left_motor_go = 0; //左电机前进禁止 Left_motor_back = 0; //左电机后退禁止 //右电机停止 Right_motor_go=0; //右电机前进禁止 Right_motor_back=0; //右电机后退禁止 //延时 delay(time * 100); return; } // 小车左转左转(左轮不动,右轮前进) void left(unsigned int time) { //左电机停止 Left_motor_go = 0; //左电机前进禁止 Left_motor_back = 0; //左电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_left=0; //右电机前进 Right_motor_go=1; //右电机前进使能 Right_motor_back=0; //右电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_right=10; //延时 delay(time * 100); return; } // 小车右转 (左轮前进,右轮不动) void right(unsigned int time) { //左电机前进 Left_motor_go = 1; //左电机前进使能 Left_motor_back = 0; //左电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_left=10; //printf("PSB_motor_right !n"); //右电机停止 Right_motor_go=0; //右电机前进禁止 Right_motor_back=0; //右电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_right=0; //延时 delay(time * 100); return; } void spin_left(unsigned int time) { //左电机后退 Left_motor_go = 0; //左电机前进禁止 Left_motor_back = 1; //左电机后退使能 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_left=18; //右电机前进 Right_motor_go=1; //右电机前进使能 Right_motor_back=0; //右电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_right=18; //延时 delay(time * 100); return; } void spin_right(unsigned int time) { //左电机前进 Left_motor_go = 1; //左电机前进使能 Left_motor_back = 0; //左电机后退禁止 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_left=18; //右电机后退 Right_motor_go=0; //右电机前进禁止 Right_motor_back=1; //右电机后退使能 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_right=18; //延时 delay(time * 100); return; } void up_right(unsigned int time) //右上 { Left_motor_go=1; Left_motor_back=0; push_val_left=18; Right_motor_go=1; Right_motor_back=0; push_val_right=10; delay(time * 100); return; } void down_right(unsigned int time) //右下 { Left_motor_go=0; Left_motor_back=1; push_val_left=18; Right_motor_go=0; Right_motor_back=1; push_val_right=10; delay(time * 100); return; } void up_left(unsigned int time) //左上 { Left_motor_back=0; push_val_left=10; Right_motor_go=1; Right_motor_back=0; push_val_right=18; delay(time * 100); return; } void down_left(unsigned int time) //左下 { //Left_moto_back; //Right_moto_back; //push_val_left = 10; //push_val_right = 25; Left_motor_go=0; Left_motor_back=1; push_val_left=10; Right_motor_go=0; Right_motor_back=1; push_val_right=18; delay(time * 100); return; } // 小车后退 void back(unsigned int time) { //左电机后退 Left_motor_go = 0; //左电机前进禁止 Left_motor_back = 1; //左电机后退使能 //更新指定管脚的PWM值，更改可实现控速（0-20） push_val_left=10; //右电机后退 Right_motor_go=0; //右电机前进禁止 Right_motor_back=1; //右电机后退使能 //更新指定管脚的PWM值，更改可实现控速（0-20) push_val_right=10; //延时 delay(time * 100); return; } /* void setspeed() { switch(g_volume) { case 1: enMinMin();break; case 2: enMin();break; case 3: enMidle();break; case 4: enMax();break; //default:enMidle();break; } } / // TIMER0中断服务子函数产生PWM信号, void timer0()interrupt 1 { TH0=0XFC; //1Ms定时 TL0=0X66; pwm_val_left++; pwm_val_right++; pwm_out_left_motor(); pwm_out_right_motor(); } //pwm初始化利用定时器0 void pwm_Init(void) { TMOD \|=0X01; //定时器工作方式1 TH0= 0XFC; //1ms定时 TL0= 0X66; TR0= 1; //启动T0工作 ET0= 1; //允许T0中断 EA = 1; //开总中断 } void UartInit(void) //初始化波特率为9600 { SCON=0x50; TMOD=0x20; TCON=0x40; TH1=0xfd; TI=1; TR1=1; } void color_led(int v_iRed, int v_iGreen, int v_iBlue) { //红色LED v_iRed == ON ? (LED_R = 1): (LED_R = 0); //绿色LED v_iGreen == ON ? (LED_G = 1): (LED_G = 0); //蓝色LED v_iBlue == ON ? (LED_B = 1): (LED_B = 0); } void main() { //printf("PS:%xn", PS2->FunBtn); stPS2KeyValue PS2; UartInit(); P2=0XC0; //关电机 P1 = 0xff; //关闭所有LED和风扇 FIRE = 0; pwm_Init(); printf("PS:fdsgfdsrn"); /while(1) { Left_motor_go = 0; delayms(1); Left_motor_go = 1; delayms(1); } / PS2_Init(); while(1) //无限循环 { PS2 = ReadPS2KeyValue(); printf("PS:%xn", PS2->FunBtn); if((PS2->FunBtn & PSB_SELECT) == 0) { // uart_sendbyte("start3"); printf("PSB_SELECT!n"); } if((PS2->FunBtn & PSB_START) == 0) { printf("PSB_START!n"); } if((PS2->FunBtn & PSB_L3) == 0) { printf("PSB_L3!n"); g_carstate = enSTOP; } if((PS2->FunBtn & PSB_R3) == 0) { printf("PSB_R3!n"); g_carstate = enSTOP; } //方向控制 if((PS2->FunBtn & PSB_PAD_UP) == 0) { printf("PSB_PAD_UP!n"); g_carstate = enRUN; } else if((PS2->FunBtn & PSB_PAD_RIGHT) == 0) { printf("PSB_PAD_RIGHT!n"); g_carstate = enRIGHT; } else if((PS2->FunBtn & PSB_PAD_DOWN) == 0) { printf("PSB_PAD_DOWN!n"); g_carstate = enBACK; } else if((PS2->FunBtn & PSB_PAD_LEFT) == 0) { printf("PSB_PAD_LEFT!n"); g_carstate = enLEFT; } /* else //去掉则按下一直执行，加此段则放开停止 { //SendBuf("Stop!n"); g_carstate = enSTOP; } / if((PS2->FunBtn & PSB_L2) == 0) { printf("PSB_L2!n"); //g_volume++; g_volume++; printf("PSB_L2_1 !n"); if(g_volume>=4) { g_volume = 4; } printf("PSB_L2_1_1 !n"); switch(g_volume) { case 1: printf("push_val_left = %dn",push_val_left); //enMinMin(); push_val_left=12;push_val_right=12; printf("PSB_l2_4 !n"); break; case 2: printf("push_val_left = %dn",push_val_left); // enMin(); push_val_left=15;push_val_right=15; printf("PSB_l2_4_1 !n"); break; case 3: printf("push_val_left = %dn",push_val_left); //enMidle(); push_val_left=18;push_val_right=18; printf("PSB_l2_4_2 !n"); break; case 4: printf("push_val_left = %dn",push_val_left); //enMax(); push_val_left=20;push_val_right=20; printf("PSB_l2_4_3 !n"); break; default:enMidle(); break; } printf("PSB_L2_5 !n"); } if((PS2->FunBtn & PSB_R2) == 0) { printf("PSB_R2!n"); g_volume--; if(g_volume<=0) { g_volume = 1; } switch(g_volume) { case 1: enMinMin(); break; //case 1:push_val_left=10;push_val_right=10;break; case 2: enMin(); //push_val_left=14;push_val_right=14; break; case 3: enMidle(); //push_val_left=17;push_val_right=17; break; case 4: enMax(); //push_val_left=20;push_val_right=20; break; //default:enMidle();break; } } if((PS2->FunBtn & PSB_L1) == 0) { printf("PSB_L1!n"); //左摇杆 if (PS2->Y1 < 5 && PS2->X1 > 80 && PS2->X1 < 180) //上 { g_carstate = enRUN; printf("enRUNn"); } else if (PS2->Y1 > 230 && PS2->X1 > 80 && PS2->X1 < 180) //下 { g_carstate = enBACK; printf("enBACKn"); } else if (PS2->X1 < 5 && PS2->Y1 > 80 && PS2->Y1 < 180) //左 { g_carstate = enLEFT; printf("enLEFTn"); } else if (PS2->Y1 > 80 && PS2->Y1 < 180 && PS2->X1 > 230)//右 { g_carstate = enRIGHT; printf("enRIGHTn"); } else if (PS2->Y1 <= 80 && PS2->X1 <= 80) //左上 { g_carstate = enUPLEFT; printf("enUPLEFTn"); } else if (PS2->Y1 <= 80 && PS2->X1 >= 180) //右上 { g_carstate = enUPRIGHT; printf("enUPRIGHTn"); } else if (PS2->X1 <= 80 && PS2->Y1 >= 180) // 左下 { g_carstate = enDOWNLEFT; printf("enDOWNLEFTn"); } else if (PS2->Y1 >= 180 && PS2->X1 >= 180) //右下 { g_carstate = enDOWNRIGHT; printf("enDOWNRIGHTn"); } else//停 { g_carstate = enSTOP; } } if((PS2->FunBtn & PSB_R1) == 0) { printf("PSB_L1!n"); //左摇杆* if (PS2->Y2 < 5 && PS2->X2 > 80 && PS2->X2< 180) //上 { g_carstate = enRUN; printf("enRUNn"); } else if (PS2->Y2 > 230 && PS2->X2 > 80 && PS2->X2 < 180) //下 { g_carstate = enBACK; printf("enBACKn"); } else if (PS2->X2 < 5 && PS2->Y2 > 80 && PS2->Y2< 180) //左 { g_carstate = enLEFT; printf("enLEFTn"); } else if (PS2->Y2 > 80 && PS2->Y2 < 180 && PS2->X2 > 230)//右 { g_carstate = enRIGHT; printf("enRIGHTn"); } else if (PS2->Y2 <= 80 && PS2->X2 <= 80) //左上 { g_carstate = enUPLEFT; printf("enUPLEFTn"); } else if (PS2->Y2 <= 80 && PS2->X2 >= 180) //右上 { g_carstate = enUPRIGHT; printf("enUPRIGHTn"); } else if (PS2->X2 <= 80 && PS2->Y2 >= 180) // 左下 { g_carstate = enDOWNLEFT; printf("enDOWNLEFTn"); } else if (PS2->Y2 >= 180 && PS2->X2 >= 180) //右下 { g_carstate = enDOWNRIGHT; printf("enDOWNRIGHTn"); } else//停 { g_carstate = enSTOP; } } if((PS2->FunBtn & PSB_TRIANGLE) == 0) //△ 控制红灯 { printf("PSB_TRIANGLE!n"); //FIRE = (FIRE == 1)?0:1; color_led(ON, OFF, OFF); delay(2000); ReadPS2KeyValue(); } if((PS2->FunBtn & PSB_CIRCLE) == 0) // o控制蓝灯 { printf("PSB_CIRCLE!n"); color_led(OFF, OFF, ON); delay(2000); ReadPS2KeyValue(); } if((PS2->FunBtn & PSB_CROSS) == 0) // × 鸣笛 { printf("PSB_CROSS!n"); FM = 0; delay(2000); FM = 1; ReadPS2KeyValue(); } if((PS2->FunBtn & PSB_SQUARE) == 0) //控制绿灯 { printf("PSB_SQUARE!n"); color_led(OFF ,ON, OFF); delay(2000); ReadPS2KeyValue(); } switch(g_carstate) { case enSTOP: brake(2); TR0= 0; break; case enRUN: run(2); TR0= 1; break; case enLEFT: left(2); TR0= 1; break; case enRIGHT: right(2); TR0= 1; break; case enBACK: back(2); TR0= 1; break; case enUPLEFT: up_left(2); TR0= 1; break; case enUPRIGHT: up_right(2); TR0= 1; break; case enDOWNLEFT: down_left(2); TR0= 1; break; case enDOWNRIGHT: down_right(2); TR0= 1; break; case enSPINLEFT: spin_left(2); TR0 = 1; break; case enSPINRIGHT: spin_right(2); TR0 = 1; break; default: break; } delay(50); } } 0
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