基于89C51单片机和SU-03T 语音识别模块切换小车功能的实现
SU-03T模块登录厂家给的地址http://www.smartpi.cn/#/进行傻瓜式配置。
相关代码实现：
#include "reg52.h"
\#include "hc04.h"
\#include "delay.h"
\#include "sg90.h"
\#include "Oled.h"
\#include "motor.h"
\#define MIDDLE 0
\#define LEFT 1
\#define RIGHT 2
\#define BZ 1
\#define XJ 2#define GS 3
sbit A25 = P1^5;
sbit A26 = P1^6;
sbit A27 = P1^7;
sbit leftSensorX = P2^7;
sbit rightSensorX = P2^6;
sbit leftSensorG = P2^5;
sbit rightSensorG = P2^4;
char dir;
double disMiddle;
double disLeft;
double disRight;
void xunjiMode()
{
if(leftSensorX == 0 && rightSensorX == 0){
goForward();
}
if(leftSensorX == 1 && rightSensorX == 0){
goLeft();
}
if(leftSensorX == 0 && rightSensorX == 1){
goRight();
}
if(leftSensorX == 1 && rightSensorX == 1){
//停
stop();
}
}
void gensuiMode()
{
if(leftSensorG == 0 && rightSensorG == 0){
goForward();
}
if(leftSensorG == 1 && rightSensorG == 0){
goRight();
}
if(leftSensorG == 0 && rightSensorG == 1){
goLeft();
}
if(leftSensorG == 1 && rightSensorG == 1){
//停
stop();
}
}void bizhangMode()
{
if(dir != MIDDLE){
sgMiddle();
dir = MIDDLE;
Delay300ms();
}
disMiddle = get_distance();
if(disMiddle > 35){
//前进
goForward();
}else if(disMiddle < 10){
goBack();
}else
{
//停止
stop();
//测左边距离
sgLeft();
Delay300ms();
disLeft = get_distance();
sgMiddle();
Delay300ms();
sgRight();
dir = RIGHT;
Delay300ms();
disRight = get_distance();
if(disLeft < disRight){
goRight();
Delay150ms();
stop();
}
if(disRight < disLeft){
goLeft();
Delay150ms();
stop();
}
}
}
void main()
{
int mark = 0;
Time0Init();
Time1Init();
//舵机的初始位置
sgMiddle();
Delay300ms();
Delay300ms();
dir = MIDDLE;
Oled_Init();
Oled_Clear();
Oled_Show_Str(2,2,"-----Ready----");
while(1){
//满足寻迹模式的条件
if(A25 == 0 && A26 == 1 && A27 == 1){
if(mark != XJ){
Oled_Clear();
Oled_Show_Str(2,2,"-----XunJi----");
}
mark = XJ;
xunjiMode();
}
//满足跟随模式的条件
if(A25 == 1 && A26 == 0 && A27 == 1){
if(mark != GS){
Oled_Clear();
Oled_Show_Str(2,2,"-----GenSui----");
}
mark = GS;
gensuiMode();
}
//满足避障模式的条件
if(A25 == 1 && A26 == 1 && A27 == 0){
if(mark != BZ){
Oled_Clear();
Oled_Show_Str(2,2,"-----BiZhang----");
}
mark = BZ;
bizhangMode();
}
}
}
lear();
Oled_Show_Str(2,2,"-----GenSui----");
}
mark = GS;
gensuiMode();
}
//满足避障模式的条件
if(A25 == 1 && A26 == 1 && A27 == 0){
if(mark != BZ){
Oled_Clear();
Oled_Show_Str(2,2,"-----BiZhang----");
}
mark = BZ;
bizhangMode();
}
}
}
实现视频：
VID_20230329_153617