forked from logzhan/RobotHardware-UESTC
78 lines
1.9 KiB
C
78 lines
1.9 KiB
C
/******************** (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固件
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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主函数
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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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// 初始化系统配置
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System_Init();
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// 蓝牙初始化
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Bluetooth_Init(9600);
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// 小车默认状态为停止
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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);// 蓝牙接收到的数据
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USART2_Send(BLE_RX, 6); // 将蓝牙接收到的数据再通过HC-05发送出来观察，不需要可以注释
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//Delay_ms(500);
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if((BLE_RX[3] == 0xB1)&&(BLE_RX[4]==0xB5))//加速
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{
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// SetPoint = SetPoint + 10;
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BLE_RX[3] = 0x00;//清缓存
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}
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if((BLE_RX[3] == 0xB3)&&(BLE_RX[4]==0xB7))//减速
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{
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// SetPoint = SetPoint - 10;
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BLE_RX[3] = 0x00;//清缓存
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}
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if((BLE_RX[3] == 0xB2)&&(BLE_RX[4]==0xB6))//前进
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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))//左转圈
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{
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Car_Turn_Left();
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Delay_ms(500);//车无角度传感器，且由于车速不同，调整延时长短实现大概的转角 90度。
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Car_Go();
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BLE_RX[3] = 0x00;//清缓存
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}
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if((BLE_RX[3] == 0xB5)&&(BLE_RX[4]==0xB9))//停车
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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))//右转圈
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{
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Car_Turn_Right();
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Delay_ms(500);//车无角度传感器，且由于车速不同，调整延时长短实现大概的转角 90度。
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Car_Go();
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BLE_RX[3] = 0x00;//清缓存
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}
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if((BLE_RX[3] == 0xB8)&&(BLE_RX[4]==0xBC))//后退
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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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