69-手機(jī)遙控型視覺(jué)監(jiān)控機(jī)器人的設(shè)計(jì) 湯誠(chéng)

69手機(jī)遙控型視覺(jué)監(jiān)控機(jī)器人的設(shè)計(jì)一、小車模塊介紹小車是由一個(gè)降壓器、一塊WIFI視屏模塊、一塊主電路板構(gòu)成。主電路板是基于STC15W204S芯片的電路板，通過(guò)串口使用下載線可將程序?qū)耄渖线€含有兩個(gè)LM393雙電壓比較器、兩個(gè)光敏電阻、一個(gè)溫濕度擴(kuò)展模塊；WIFI視屏模塊上安有一個(gè)小型攝像頭，使用手機(jī)APP可將攝像頭捕捉的畫面反饋到手機(jī)上；降壓器其輸入直流電壓為3V至40V，輸出直流電壓為1.5至35V，電壓連續(xù)可調(diào)，高效率最大輸出電流為3A。本作品主要體現(xiàn)于手機(jī)遙控和視覺(jué)監(jiān)控。二、小車實(shí)物圖小車底盤WIFI視屏模板降壓器主電路板小車底盤WIFI視屏模板降壓器主電路板直流電機(jī)驅(qū)動(dòng)直流電機(jī)驅(qū)動(dòng)直流電機(jī)驅(qū)動(dòng)直流電機(jī)驅(qū)動(dòng)程序編寫#include"stc15.h"#defineu8unsignedchar#defineu16unsignedint#definePWM_MAX65sbitLeftA=P1^3;sbitLeftB=P1^2;sbitRightA=P1^1;sbitRightB=P1^0;u8Recive_OK=0;u8dat=0;u8buff[12]={0};u8Date[12]={0};u8FB_bit=3;/**********************************buf0 起始碼 0x81 buf1 校驗(yàn)位 buf2 油門 0~127buf3 左右 -100~100 左：負(fù)數(shù)右：正數(shù)buf4 前后 -100~100 前：正數(shù)后：負(fù)數(shù)buf5 自轉(zhuǎn) -100~100buf6 按鍵buf7 左右微調(diào) -50~50buf8 前后微調(diào) -50~50buf9 保留 0x00buf10 保留 0x00buf11 結(jié)束碼 0x82**********************************/u8Left_PWM=0;u8Right_PWM=0;charLeft_Right=0;charForward_Back=0;voidDelay_ms(u16j){ u8i; for(;j>0;j--) for(i=0;i<123;i++);}voidUART_Init(){ SCON=0x50; T2L=0xE8; T2H=0xFF; AUXR|=0X04; AUXR|=0X01; AUXR|=0X10; PS=1; ES=1; EA=1;}voidTimer0Init(void) //10??@11.0592MHz{ AUXR|=0x80; //定時(shí)器時(shí)鐘1T模式 TMOD&=0xF0; //設(shè)置定時(shí)器模式 TL0=0xAE; //設(shè)置定時(shí)初值 TH0=0xFB; //設(shè)置定時(shí)初值 TF0=0; //清除TF0標(biāo)志 TR0=1; //定時(shí)器0開(kāi)始計(jì)時(shí) ET0=1;}voidForward(u8speed){ FB_bit=0; LeftA=1; LeftB=0; RightA=1; RightB=0; Left_PWM=speed; Right_PWM=speed;}voidBack(u8speed){ FB_bit=1; LeftA=0; LeftB=1; RightA=0; RightB=1; Left_PWM=speed+15; Right_PWM=speed+15;}voidTurn_Left(u8LR_speed){ FB_bit=0; LeftA=1; LeftB=0; RightA=1; RightB=0; Left_PWM=LR_speed; if(LR_speed<35) Right_PWM=LR_speed+30; else Right_PWM=65;}voidTurn_Right(LR_speed){ FB_bit=0; LeftA=1; LeftB=0; RightA=1; RightB=0; Right_PWM=LR_speed; if(LR_speed<35) Left_PWM=LR_speed+30; else Left_PWM=65;}voidTurn_Right_B(LR_speed){ FB_bit=1; LeftA=0; LeftB=1; RightA=0; RightB=1; Left_PWM=LR_speed; if(LR_speed<35) Right_PWM=LR_speed+30; else Right_PWM=65;}voidTurn_Left_B(u8FW_speed,LR_speed){ FB_bit=1; LeftA=0; LeftB=1; RightA=0; RightB=1; Right_PWM=LR_speed; if(LR_speed<35) Left_PWM=LR_speed+30; else Left_PWM=65;}voidStop(){ LeftA=LeftB=1; RightA=RightB=1; FB_bit=3; }voidSend_Char(u8dat){ SBUF=dat; while(!TI); TI=0;}u8num=0;voidconvert(){ if(Date[3]==0&&Date[4]==0) { Stop(); } elseif(Date[3]==0) { if(Date[4]>0x65) Back((256-Date[4])/2); elseif(Date[4]<0x65) Forward(Date[4]/2); } elseif(Date[3]>0x64)//左 大于100負(fù)數(shù) { if(Date[4]<0x65)//前左 Turn_Left((256-Date[3])/2); else Turn_Left_B(((256-Date[3])/2)); } elseif(Date[3]<0x64) { if(Date[4]<0x65) Turn_Right(Date[3]/2); else Turn_Right_B(Date[3]/2); } while(!Recive_OK); Recive_OK=0;}voidmain(){ UART_Init(); Timer0Init(); while(1) {// Send_Char(Date[2]);// LeftA=~LeftA;// LeftA=LeftB=RightA=RightB=1;// Delay_ms(5000);// LeftA=LeftB=RightA=RightB=0;// Delay_ms(5000); convert();// Forward(Date[4]/2+1); // Send_Char(10/2+1); }}voidTime0()interrupt1{ num++; if(num==PWM_MAX) { num=0; if(FB_bit==0) { LeftA=1; RightA=1; } elseif(FB_bit==1) { LeftA=0; RightA=0; } } if(num==Left_PWM) { if(FB_bit==0) LeftA=0; elseif(FB_bit==1) LeftA=1; } if(num==Right_PWM) { if(FB_bit==0) RightA=0; elseif(FB_bit==1) RightA=1; }}voidUART()interrupt4{ staticu8start=0,count=0,i; if(RI) { RI=0; dat=SBUF; if(dat==0x81&&start==0) { start=1; buff[count++]=dat; } elseif(start==1) { buff[count++]=dat; if(count==12) { start=0; count=0; if(dat==0x82) { for(i=0;i<12;i++)