forked from logzhan/RobotHardware-UESTC
78 lines
1.9 KiB
C
78 lines
1.9 KiB
C
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/******************** (C) COPYRIGHT 2023 GeekRebot *****************************
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* File Name : main.c
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* Current Version : V1.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com
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* Date of Issued : 2023.04.06 zhanli: Create
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* Comments : GeekRebot STM32<EFBFBD>̼<EFBFBD>
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********************************************************************************/
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#include "bsp_sys.h"
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#include "stdio.h"
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#include "bluetooth.h"
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unsigned char BLE_RX[64];
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/**----------------------------------------------------------------------
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* Function : main
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* Description : GeekRebot<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Author : zhanli&719901725@qq.com
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* Date : 2023/04/22 zhanli
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*---------------------------------------------------------------------**/
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int main(void)
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{
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// <20><>ʼ<EFBFBD><CABC>ϵͳ<CFB5><CDB3><EFBFBD><EFBFBD>
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System_Init();
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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Bluetooth_Init(9600);
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// С<><D0A1>Ĭ<EFBFBD><C4AC>״̬Ϊֹͣ
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Car_Stop();
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while (1)
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{
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Delay_ms(20);
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USART2_Receive(BLE_RX, 6);// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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USART2_Send(BLE_RX, 6); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>HC-05<30><35><EFBFBD>ͳ<EFBFBD><CDB3><EFBFBD><EFBFBD>۲죬<DBB2><ECA3AC><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>
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//Delay_ms(500);
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if((BLE_RX[3] == 0xB1)&&(BLE_RX[4]==0xB5))//<2F><><EFBFBD><EFBFBD>
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{
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// SetPoint = SetPoint + 10;
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BLE_RX[3] = 0x00;//<2F>建<EFBFBD><E5BBBA>
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}
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if((BLE_RX[3] == 0xB3)&&(BLE_RX[4]==0xB7))//<2F><><EFBFBD><EFBFBD>
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{
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// SetPoint = SetPoint - 10;
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BLE_RX[3] = 0x00;//<2F>建<EFBFBD><E5BBBA>
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}
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if((BLE_RX[3] == 0xB2)&&(BLE_RX[4]==0xB6))//ǰ<><C7B0>
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{
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Car_Go();
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}
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if((BLE_RX[3] == 0xB4)&&(BLE_RX[4]==0xB8))//<2F><>תȦ
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{
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Car_Turn_Left();
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Delay_ms(500);//<2F><><EFBFBD>Ƕȴ<C7B6><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD><DAB3>ٲ<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʵ<EFBFBD>ִ<EFBFBD><D6B4>ŵ<EFBFBD>ת<EFBFBD><D7AA> 90<39>ȡ<EFBFBD>
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Car_Go();
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BLE_RX[3] = 0x00;//<2F>建<EFBFBD><E5BBBA>
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}
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if((BLE_RX[3] == 0xB5)&&(BLE_RX[4]==0xB9))//ͣ<><CDA3>
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{
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Car_Stop();
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}
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if((BLE_RX[3] == 0xB6)&&(BLE_RX[4]==0xBA))//<2F><>תȦ
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{
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Car_Turn_Right();
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Delay_ms(500);//<2F><><EFBFBD>Ƕȴ<C7B6><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD><DAB3>ٲ<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʵ<EFBFBD>ִ<EFBFBD><D6B4>ŵ<EFBFBD>ת<EFBFBD><D7AA> 90<39>ȡ<EFBFBD>
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Car_Go();
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BLE_RX[3] = 0x00;//<2F>建<EFBFBD><E5BBBA>
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}
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if((BLE_RX[3] == 0xB8)&&(BLE_RX[4]==0xBC))//<2F><><EFBFBD><EFBFBD>
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{
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Car_Back();
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}
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}
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}
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