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lcd_window.c
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#include "STC12C5A.h"
#include "uart.h"
#include "lcd_window.h"
#include "main.h"
#define uchar unsigned char
#define FALSE -1
#define TRUE 0
int Lcd_control(char *cmd)//模式设置
{
//uchar receive_buf[4];//LCD返回数据buf
uchar *cmdbuf=(uchar *)cmd;
uchar end_frame[]={0xff,0xff,0xff};//LCD发送帧尾部
uchar len=0;
while(*cmdbuf!='\0')//计算字符个数
{
cmdbuf++;
len++;
}
UART2_Send((uchar *)cmd,len);//发送LCD控制指令
delayms(10);
UART2_Send(end_frame,3);//发送LCD帧尾
return TRUE;
}
/******************************************************************
功能：将一个32位长整型变量dat转为字符串，比如把1234转为"1234"
参数：dat:待转的long型的变量
str:指向字符数组的指针，转换后的字节串放在其中
返回：转换后的字符串长度
******************************************************************/
unsigned char int2str(int dat,unsigned char *str) // 长整型数转换为字符串，返回值为转换后的字符串长度
{
signed char i=0;
unsigned char len = 0;
unsigned char buf[6]={0}; // 长整数最大值4294967295，转ASCII码后占用10+1=11字节
if (dat < 0)// 如果为负数，首先取绝对值，并添加负号
{
dat = -dat;
*str++ = '-';
len++;
}
do
{// 低位在前高位在后顺序排列
buf[i++] = dat % 10+0x30;// C语言中数组下标固定从0开始
dat /= 10;
} while (dat > 0);
len += i; // i最后的值就是有效字符的个数
while (i-- > 0) // 高位在前低位在后顺序排列
{
*str++ = buf[i] ;
}
*str = 0; // 添加字符串结束符方便使用KEIL自带的字符串处理函数处理
return len; // 返回字符串长度
}
int Lcd_set_val(char *cmd, int val)//模式设置
{
//uchar receive_buf[4];
uchar val_buf[5]={0};//int转char的缓存
uchar val_len=0;//转换后的数字有多少位数
uchar *cmd_buf = (uchar *)cmd;
uchar end_frame[]={0xff,0xff,0xff};//帧尾
uchar cmd_len=0;
val_len = int2str(val,val_buf);//整型转字符型
while(*cmd_buf!='\0')
{
cmd_buf++;
cmd_len++;
}
UART2_Send((uchar *)cmd,cmd_len);//发送LCD控制指令
UART2_Send(val_buf,val_len);//发送数字
UART2_Send(end_frame,3);//帧尾部
return TRUE;
}
//tou_led.txt="V12.00.02"
//该为自带清buf的步骤
int Lcd_set_txt(char *cmd,unsigned short *real_data)//模式设置
{
uchar *cmd_buf = (uchar *)cmd;
uchar clear_data=50;
uchar end_frame[]={0xff,0xff,0xff};//帧尾
uchar disbuf[11]={0};
uchar cmd_len=0;
disbuf[0]='"';
disbuf[1]='V';
if((*(real_data)>>8)>9)//如果主版本号大于9
{
disbuf[2]=(*(real_data)>>8)/10+48;
disbuf[3]=(*(real_data)>>8)%10+48;
}
else
{
disbuf[2]= '0';
disbuf[3]=(*(real_data)>>8)+48;
}
disbuf[4]='.';
if((*(real_data)&0x00ff)>9)//如果主版本号大于9
{
disbuf[5]=(*(real_data)&0x00ff)/10+48;
disbuf[6]=(*(real_data)&0x00ff)%10+48;
}
else
{
disbuf[5]= '0';
disbuf[6]=(*(real_data)&0x00ff)+48;
}
disbuf[7]='.';
if((*(real_data+1)>>8)>9)//如果主版本号大于9
{
disbuf[8]=(*(real_data+1)>>8)/10+48;
disbuf[9]=(*(real_data+1)>>8)%10+48;
}
else
{
disbuf[8]= '0';
disbuf[9]=(*(real_data+1)>>8)+48;
}
disbuf[10]='"';
while(*cmd_buf!='\0')
{
cmd_buf++;
cmd_len++;
}
UART2_Send((uchar *)cmd,cmd_len);//发送LCD控制指令
if(*(real_data)==0 && *(real_data+1)==0)
UART2_Send((uchar *)"\"no device\"",11);
else
UART2_Send(disbuf,11);//发送值
UART2_Send(end_frame,3);//帧尾部
while(clear_data--)
{
*real_data=0x0000;
real_data++;
}
return TRUE;
}
int ultrasonic_window(unsigned short *real_data)// 传感器窗口数据刷新
{
uchar clear_data=50;
send_data(0x81,0x80,27);
delayms(30);
Lcd_set_val("d0.val=",(*(real_data+chaosheng1) >> 8)*10);
Lcd_set_val("d2.val=",(*(real_data+chaosheng1) & 0x00ff)*10);
Lcd_set_val("d4.val=",(*(real_data+chaosheng2) >>8)*10);
Lcd_set_val("d6.val=",(*(real_data+chaosheng2) & 0x00ff)*10);
Lcd_set_val("d8.val=",(*(real_data+chaosheng3) >> 8)*10);
Lcd_set_val("da.val=",(*(real_data+chaosheng3) & 0x00ff)*10);
Lcd_set_val("dc.val=",(*(real_data+chaosheng4) >> 8)*10);
Lcd_set_val("de.val=",(*(real_data+chaosheng4) & 0x00ff)*10);
Lcd_set_val("e0.val=",(*(real_data+chaosheng5) >> 8)*10);
Lcd_set_val("e2.val=",(*(real_data+chaosheng5) & 0x00ff)*10);
Lcd_set_val("e4.val=",(*(real_data+chaosheng6) >> 8)*10);
Lcd_set_val("e8.val=",(*(real_data+chaosheng6) & 0x00ff)*10);
Lcd_set_val("hongwaizuo.val=",(*(real_data+hongwai2) >> 8)*2);
Lcd_set_val("hongwaiyou.val=",(*(real_data+hongwai2) & 0x00ff)*2);
//读取版本号
send_data(0x81,0xCA,2);
delayms(30);
Lcd_set_txt("val1.txt=",real_data);//0号板
send_data(0x81,0xCC,2);
delayms(30);
Lcd_set_txt("val2.txt=",real_data);//1号板
send_data(0x81,0xCE,2);
delayms(30);
Lcd_set_txt("val3.txt=",real_data);//2号板
send_data(0x81,0xD0,2);
delayms(30);
Lcd_set_txt("val4.txt=",real_data);//3号板
while(clear_data--)
{
*real_data=0x0000;
real_data++;
}
if(lcd_status==Return_button)
{
Lcd_control("page main");
lcd_status = main_window;
return -1;//如果受到返回信号
}
return 0;//正常刷新数据
}
int ultrasonic_window1(unsigned short *real_data)// 传感器窗口数据刷新
{
uchar clear_data=50;
send_data(0x81,0x8b,16);
delayms(30);
Lcd_set_val("d0.val=",(*(real_data) >> 8)*10);
Lcd_set_val("d1.val=",(*(real_data) & 0x00ff)*10);
Lcd_set_val("d2.val=",(*(real_data+1) >>8)*10);
Lcd_set_val("d3.val=",(*(real_data+1) & 0x00ff)*10);
Lcd_set_val("d4.val=",(*(real_data+2) >> 8)*10);
Lcd_set_val("d5.val=",(*(real_data+2) & 0x00ff)*10);
Lcd_set_val("d6.val=",(*(real_data+3) >> 8)*10);
Lcd_set_val("d7.val=",(*(real_data+3) & 0x00ff)*10);
Lcd_set_val("d8.val=",(*(real_data+4) >> 8)*10);
Lcd_set_val("d9.val=",(*(real_data+4) & 0x00ff)*10);
Lcd_set_val("d10.val=",(*(real_data+5) >> 8)*10);
//Lcd_set_val("e8.val=",(*(real_data+5) & 0x00ff)*10);
Lcd_set_val("hongwaizuo.val=",(*(real_data+6) & 0x00ff)*2);
Lcd_set_val("hongwaiyou.val=",(*(real_data+7) & 0x00ff)*2);
/*/读取版本号
send_data(0x81,0xCA,2);
delayms(30);
Lcd_set_txt("val1.txt=",real_data);//0号板
send_data(0x81,0xCC,2);
delayms(30);
Lcd_set_txt("val2.txt=",real_data);//1号板
send_data(0x81,0xCE,2);
delayms(30);
Lcd_set_txt("val3.txt=",real_data);//2号板
send_data(0x81,0xD0,2);
delayms(30);
Lcd_set_txt("val4.txt=",real_data);//3号板
*/
//超声波1
send_data(0x81,0xcc,3);
delayms(30);
Lcd_set_txt("chaosheng1.txt=",real_data);
//超声波2
send_data(0x81,0xcf,3);
delayms(30);
Lcd_set_txt("chaosheng2.txt=",real_data);
while(clear_data--)
{
*real_data=0x0000;
real_data++;
}
if(lcd_status==Return_button1)
{
Lcd_control("page main1");
lcd_status = main_window;
return -1;//如果受到返回信号
}
return 0;//正常刷新数据
}
int version_window(unsigned short *real_data)// 传感器窗口数据刷新
{
TH1 = 0xf7;
TL1 = TH1; //38400波特率
delayms(30);
//电源管理板
send_data(0x05,0x78,3);
delayms(30);
Lcd_set_txt("dianyuanguanli.txt=",real_data);
//舵机板
send_data(0x01,0x78,3);
delayms(30);
Lcd_set_txt("tou_duoji.txt=",real_data);
//单测右轮
send_data(0x02,0x78,3);
delayms(30);
Lcd_set_txt("danyoulun.txt=",real_data);
//左手
send_data(0x06,0x78,3);
delayms(30);
Lcd_set_txt("zuoshou.txt=",real_data);
//右手
send_data(0x07,0x78,3);
delayms(30);
Lcd_set_txt("youshou.txt=",real_data);
//头呼吸灯板
send_data(0x03,0x78,3);
delayms(30);
Lcd_set_txt("tou_led.txt=",real_data);
TH1 = 0xFD;
TL1 = TH1; //115200波特率
//主控板
send_data(0x81,0x78,3);
delayms(30);
Lcd_set_txt("zhukong.txt=",real_data);
//超宽带
send_data(0x81,0xB1,3);
delayms(30);
Lcd_set_txt("chaokuandai.txt=",real_data);
//左轮
send_data(0x81,0xB4,3);
delayms(30);
Lcd_set_txt("zuolun.txt=",real_data);
//右轮
send_data(0x81,0xB7,3);
delayms(30);
Lcd_set_txt("youlun.txt=",real_data);
if(lcd_status==Return_button)
{
Lcd_control("page main");
lcd_status = main_window;
return -1;//如果受到返回信号
}
return 0;//正常刷新数据
}
int version_window1(unsigned short *real_data)// 传感器窗口数据刷新
{
/*TH1 = 0xf7;
TL1 = TH1; //38400波特率
delayms(30);
//单测左轮
send_data(0x01,0x78,3);
delayms(30);
Lcd_set_txt("danzuolun.txt=",real_data);
//单测右轮
send_data(0x02,0x78,3);
delayms(30);
Lcd_set_txt("danyoulun.txt=",real_data);*/
//主控板
send_data(0x81,0x78,3);
delayms(30);
Lcd_set_txt("zhukong.txt=",real_data);
//超宽带
send_data(0x81,0xc0,3);
delayms(30);
Lcd_set_txt("chaokuandai.txt=",real_data);
//左轮
send_data(0x81,0xc6,3);
delayms(30);
Lcd_set_txt("zuolun.txt=",real_data);
//右轮
send_data(0x81,0xc9,3);
delayms(30);
Lcd_set_txt("youlun.txt=",real_data);
//电源管理
send_data(0x81,0xc3,3);
delayms(30);
Lcd_set_txt("dianyuanguanli.txt=",real_data);
//超声波1
send_data(0x81,0xcc,3);
delayms(30);
Lcd_set_txt("chaosheng1.txt=",real_data);
//超声波2
send_data(0x81,0xcf,3);
delayms(30);
Lcd_set_txt("chaosheng2.txt=",real_data);
//舵机板
send_data(0x82,0x70,3);
delayms(30);
Lcd_set_txt("tou_duoji.txt=",real_data);
delayms(30);
//驱动器选择
if(lcd_status==feng_de_kong)//风得控
{
main_board_single_write(0x0f,0x047f);//主控板单写
delayms(30);
main_board_single_write(0x09,0x5a5a);//写入flash
delayms(200);
main_board_single_write(0x5a,0x5555);//重启主控板
delayms(30);
qu_dong_qi=1;
lcd_status=0;
}
if(lcd_status==yi_ban_qudong)//一般3代驱动
{
main_board_single_write(0x0f,0x007f);//主控板单写
delayms(30);
main_board_single_write(0x09,0x5a5a);//写入flash
delayms(200);
main_board_single_write(0x5a,0x5555);//重启主控板
delayms(30);
qu_dong_qi=0;
lcd_status=0;
}
if(lcd_status==Return_button1)
{
Lcd_control("page main1");
lcd_status = main_window;
return -1;//如果受到返回信号
}
return 0;//正常刷新数据
}
int motor_ctrl_window(unsigned short *real_data)//舵机控制窗口
{
uchar turn_speed = 10;
send_data(0x01,0x7e,2);
delayms(30);
Lcd_set_val("hbianmaqiz.val=", (int)(*(real_data)));
delayms(30);
Lcd_set_val("hbiaodingz.val=", (int)(*(real_data+1)));
*(real_data)=0;
*(real_data+1)=0;
send_data(0x06,0x7e,2);
delayms(30);
Lcd_set_val("zbianmaqiz.val=", (int)(*(real_data)));
delayms(30);
Lcd_set_val("zbiaodingz.val=", (int)(*(real_data+1)));
*(real_data)=0;
*(real_data+1)=0;
send_data(0x07,0x7e,2);
delayms(30);
Lcd_set_val("ybianmaqiz.val=", (int)(*(real_data)));
delayms(30);
Lcd_set_val("ybiaodingz.val=", (int)(*(real_data+1)));
*(real_data)=0;
*(real_data+1)=0;
//*头部控制部分
if(lcd_status==hbiaoding)//头部标定检测
{
motor_contrl_send(0x01,0x05,0,0);
delayms(30);
motor_contrl_send(0x01,0x05,0,0);
delayms(30);
motor_contrl_send(0x01,0x00,0,0);
}
if(lcd_status==hzuo)//头部正转
{
motor_contrl_send(0x01,0x01,turn_speed,0);
}
if(lcd_status==hyou)//头部反转
{
motor_contrl_send(0x01,0x02,turn_speed,0);
}
if(lcd_status==hzhong)//头部正中
{
motor_contrl_send( 0x01,0x03,turn_speed,180);
delayms(2000);
motor_contrl_send( 0x01,0x00,0,0);
}//*/
//左手控制部分
if(lcd_status==zbiaoding)//左手标定检测
{
motor_contrl_send( 0x06,0x05,0,0);
delayms(30);
motor_contrl_send( 0x06,0x05,0,0);
delayms(30);
motor_contrl_send( 0x06,0x00,0,0);//退出标定状态
}
if(lcd_status==zzuo)//左手正转
{
motor_contrl_send( 0x06,0x01,7,0);
}
if(lcd_status==zyou)//左手反转
{
motor_contrl_send( 0x06,0x02,7,0);
}
if(lcd_status==zzhong)//左手正中
{
motor_contrl_send( 0x06,0x03,7,180);
delayms(2000);
motor_contrl_send( 0x06,0x00,0,0);
}
//*右手控制部分
if(lcd_status==ybiaoding)//左手标定检测
{
motor_contrl_send( 0x07,0x05,0,0);
delayms(30);
motor_contrl_send( 0x07,0x05,0,0);
delayms(30);
motor_contrl_send( 0x07,0x00,0,0);//退出标定状态
}
if(lcd_status==yzuo)//左手正转
{
////printf("yzuo\n");
motor_contrl_send( 0x07,0x01,7,0);
}
if(lcd_status==yyou)//左手反转
{
////printf("yyou\n");
motor_contrl_send( 0x07,0x02,7,0);
}
if(lcd_status==yzhong)//左手正中
{
////printf("yzhong\n");
motor_contrl_send( 0x07,0x03,7,180);
delayms(2000);
motor_contrl_send( 0x07,0x00,0,0);
}
//LED灯板控制部分
if(lcd_status==led00)
{
//printf("led00\n");
led_contrl_send( 0x03,0,0,100);
}
if(lcd_status==led01)
{
//printf("led01\n");
led_contrl_send( 0x03,0,35,100);
}
if(lcd_status==led10)
{
//printf("led10\n");
led_contrl_send( 0x03,35,0,100);
}
if(lcd_status==led11)
{
//printf("led11\n");
led_contrl_send( 0x03,35,35,100);
}
//连续控制部分
if(lcd_status==alianxu1)
{
//printf("alianxu1\n");
while(1)
{
motor_contrl_send( 0x01,0x01,9,0);//头部正转
delayms(30);
motor_contrl_send( 0x06,0x01,7,0);//左手正转
delayms(30);
motor_contrl_send( 0x07,0x01,7,0);//右手正转
delayms(30);
if(lcd_status==alianxu0) break;//退出检测
if(lcd_status==Return_button) break;
delayms(3500);
if(lcd_status==Return_button) break;
if(lcd_status==alianxu0) break;//退出检测
motor_contrl_send( 0x01,0x02,9,0);//头部反转
delayms(30);
motor_contrl_send( 0x06,0x02,7,0);//左手反转
delayms(30);
if(lcd_status==Return_button) break;
motor_contrl_send( 0x07,0x02,7,0);//右手反转
delayms(30);
if(lcd_status==alianxu0) break;//退出检测
delayms(3500);
if(lcd_status==Return_button) break;
if(lcd_status==alianxu0) break;//退出检测
}
//printf("alianxu0\n");
//退出回正
motor_contrl_send( 0x01,0x03,9,180);//头回正
delayms(30);
motor_contrl_send( 0x06,0x03,7,180);//左手回正
delayms(30);
motor_contrl_send( 0x07,0x03,7,180);//右手回正
delayms(30);
delayms(2000);//等待回正完毕
//退出后设置为自然停止
motor_contrl_send( 0x01,0x00,0,0);//头停止
delayms(30);
motor_contrl_send( 0x06,0x00,0,0);//左手停止
delayms(30);
motor_contrl_send( 0x07,0x00,0,0);//右手停止
delayms(30);
}//*/
if(lcd_status==Return_button)//按下退出按键
{
//printf("return_button\n");
Lcd_control( "page main");
lcd_status = main_window;
//退出回正
motor_contrl_send( 0x01,0x03,9,180);//头回正
delayms(30);
motor_contrl_send( 0x06,0x03,7,180);//左手回正
delayms(30);
motor_contrl_send( 0x07,0x03,7,180);//右手回正
delayms(30);
delayms(2000);//等待回正完毕
//退出后设置为自然停止
motor_contrl_send( 0x01,0x00,0,0);//头停止
delayms(30);
motor_contrl_send( 0x06,0x00,0,0);//左手停止
delayms(30);
motor_contrl_send( 0x07,0x00,0,0);//右手停止
delayms(30);
return -1;//如果受到返回信号
}
lcd_status=0;//状态清零
return 0;//正常刷新数据
}
//*
int motor_ctrl_window1(unsigned short *real_data)//舵机控制窗口
{
uchar turn_speed = 15;//15最大值
int head_angle=0,left_angle=0,right_angle=0;
//*用于心跳检测间隔
send_data(0x82,0x70,3);
delayms(200); //*/
//头部控制部分
if(lcd_status==hbiaoding)//标定检测
{
motor_contrl_send1(0x05,0x01,0,0);//头标定
delayms(30);
motor_contrl_send1(0x16,0x05,0,0);//左手标定
delayms(30);
motor_contrl_send1(0x22,0x05,0,0);//右手标定
}
if(lcd_status==hzuo)//头部正转
{
motor_contrl_send1(0x05,0x04,turn_speed,0);
}
if(lcd_status==hyou)//头部反转
{
motor_contrl_send1(0x05,0x04,turn_speed,180);
}
if(lcd_status==hzhong)//头部正中
{
motor_contrl_send1( 0x05,0x04,turn_speed,90);
}
//左手控制部分
if(lcd_status==zzuo)//左手正转
{
motor_contrl_send1( 0x16,0x03,turn_speed,360);
}
if(lcd_status==zyou)//左手反转
{
motor_contrl_send1( 0x16,0x03,turn_speed,120);
}
if(lcd_status==zzhong)//左手正中
{
motor_contrl_send1( 0x16,0x03,turn_speed,180);
}
//*右手控制部分
if(lcd_status==yzuo)//正转
{
motor_contrl_send1( 0x22,0x03,turn_speed,360);
}
if(lcd_status==yyou)//反转
{
motor_contrl_send1( 0x22,0x03,turn_speed,120);
}
if(lcd_status==yzhong)//正中
{
motor_contrl_send1( 0x22,0x03,turn_speed,180);
}
//LED灯板控制部分
if(lcd_status==led00)//关闭
{
led_contrl_send1( 0x00,0,0,0);
}
if(lcd_status==led01)//红
{
led_contrl_send1( 0x01,255,0,0);
}
if(lcd_status==led10)//绿
{
led_contrl_send1( 0x01,0,255,0);
}
if(lcd_status==led11)//蓝
{
led_contrl_send1( 0x01,0,0,255);
}
//连续控制部分
if(lcd_status==alianxu1)
{
motor_contrl_send1( 0x05,0x04,turn_speed,0);//头部正转
delayms(30);
motor_contrl_send1( 0x16,0x03,turn_speed,360);//左手正转
delayms(30);
motor_contrl_send1( 0x22,0x03,turn_speed,360);//右手正转
while(1)
{
send_data(0x82,0x74,11);
delayms(30);
head_angle=(int)(*(real_data));
left_angle=(int)(*(real_data+5));
right_angle=(int)(*(real_data+10));
if(head_angle>=0&&head_angle<=2)
{
motor_contrl_send1( 0x05,0x04,turn_speed,180);//头部反转
delayms(30);
}
if(head_angle>=178&&head_angle<=180)
{
motor_contrl_send1( 0x05,0x04,turn_speed,0);//头部正转
delayms(30);
}
//左手
if(left_angle>=358&&left_angle<=360||left_angle>=0&&left_angle<=2)
{
motor_contrl_send1( 0x16,0x03,turn_speed,120);//左手反转
delayms(30);
}
if(left_angle>=117&&left_angle<=122)
{
motor_contrl_send1( 0x16,0x03,turn_speed,360);//左手正转
delayms(30);
}
//右手
if(right_angle>=358&&right_angle<=360||right_angle>=0&&right_angle<=2)
{
motor_contrl_send1( 0x22,0x03,turn_speed,120);//右手反转
delayms(30);
}
if(right_angle>=117&&right_angle<=122)
{
motor_contrl_send1( 0x22,0x03,turn_speed,360);//右手正转
delayms(30);
}
if(lcd_status==Return_button1) break;
if(lcd_status==alianxu0) break;//退出检测
delayms(200);
}
//退出回正
motor_contrl_send1( 0x16,0x03,turn_speed,180);//左手回正
delayms(30);
motor_contrl_send1( 0x22,0x03,turn_speed,180);//右手回正
delayms(30);
motor_contrl_send1( 0x05,0x04,turn_speed,90);//头回正
delayms(30);
}
if(lcd_status==Return_button1)//按下退出按键
{
//printf("return_button\n");
Lcd_control( "page main1");
lcd_status = main_window;
//退出回正
motor_contrl_send1( 0x05,0x04,turn_speed,90);//头回正
delayms(30);
motor_contrl_send1( 0x16,0x03,turn_speed,180);//左手回正
delayms(30);
motor_contrl_send1( 0x22,0x03,turn_speed,180);//右手回正
return -1;//如果受到返回信号
}
lcd_status=0;//状态清零
return 0;//正常刷新数据
}
int Duojixianzhi_window(unsigned short *real_data)//舵机限制窗口
{
//头部限制查询
send_data(0x01,0x80,1);//读限定电流值
delayms(30);
Lcd_set_val("htouxianliu.val=", *(real_data));
delayms(30);
*(real_data)=0;
send_data(0x01,0x0B,2);//读限位值
delayms(30);
Lcd_set_val("htoushangxw.val=", (int)(*(real_data)));
delayms(30);
Lcd_set_val("htouxiaxw.val=", (int)(*(real_data+1)));
*(real_data)=0;
*(real_data+1)=0;
//俯仰限制查询
send_data(0x02,0x80,1);//读限定电流值
delayms(30);
Lcd_set_val("fyxianliu.val=", *(real_data));
delayms(30);
*(real_data)=0;
send_data(0x02,0x0B,2);//读限位值
delayms(30);
Lcd_set_val("fyshangxianw.val=", (int)(*(real_data)));
delayms(30);
Lcd_set_val("fyxiaxianw.val=", (int)(*(real_data+1)));
*(real_data)=0;
*(real_data+1)=0;
//左手限制查询
send_data(0x06,0x80,1);//读限定电流值
delayms(30);
Lcd_set_val("zuoxianliu.val=", *(real_data));
delayms(30);
*(real_data)=0;
send_data(0x06,0x0B,2);//读限位值
delayms(30);
Lcd_set_val("zuoshangxw.val=", (int)(*(real_data)));
delayms(30);
Lcd_set_val("zuoxiaxw.val=", (int)(*(real_data+1)));
*(real_data)=0;
*(real_data+1)=0;
//右手限制查询
send_data(0x07,0x80,1);//读限定电流值
delayms(30);
Lcd_set_val("yshouxianliu.val=", *(real_data));
delayms(30);
*(real_data)=0;
send_data(0x07,0x0B,2);//读限位值
delayms(30);
Lcd_set_val("yshoushangxw.val=", (int)(*(real_data)));
delayms(30);
Lcd_set_val("yshaouxiaxw.val=", (int)(*(real_data+1)));
*(real_data)=0;
*(real_data+1)=0;
//*一键限制配置部分
if(lcd_status==set_limit_value)
{
//头部舵机
limit_current_contrl_send(0x01,10);//头0.6A的限制电流
delayms(30);
limit_value_contrl_send(0x01 ,90,90);//头90度限位值发送
delayms(30);
//俯仰舵机
limit_current_contrl_send(0x02,10);//俯仰0.6A的限制电流
delayms(30);
limit_value_contrl_send(0x02 ,9,9);//平安俯仰9度限位值发送
delayms(30);
//左手舵机
limit_current_contrl_send(0x06,10);//头1A的限制电流
delayms(30);
limit_value_contrl_send(0x06 ,90,90);//头90度限位值发送
delayms(30);
//右手舵机
limit_current_contrl_send(0x07,10);//俯仰1A的限制电流
delayms(30);
limit_value_contrl_send(0x07 ,90,90);//俯仰90度限位值发送
delayms(30);
}
if(lcd_status==Return_button)//按下退出按键
{
//printf("return_button\n");
Lcd_control( "page main");
lcd_status = main_window;
return -1;//如果受到返回信号
}
lcd_status=0;//状态清零
return 0;//正常刷新数据
}
int biaoqing_window(void)//表情窗口
{
switch(lcd_status)
{
case zhengchang: biao_qing_contrl_send(0);break;
case aixin: biao_qing_contrl_send(145);break;
case chongdian: biao_qing_contrl_send(257);break;
case daohang: biao_qing_contrl_send(277);break;
default : break;
}
if(lcd_status==Return_button1)//按下退出按键
{
//printf("return_button\n");
Lcd_control( "page main1");
lcd_status = main_window;
return -1;//如果受到返回信号
}
lcd_status=0;//状态清零
return 0;//正常刷新数据
}
//void main_board_contrl_send(uchar run_mode,uchar left_speed,uchar right_speed);//主控板多写
int robot_ctrl_window(unsigned short *real_data)//整机控制部分
{
*real_data = 0xf1f0;
switch(lcd_status)
{
case auto_charge_on : main_board_contrl_send(0x80,0,0); break;
case auto_charge_off : main_board_contrl_send(0x00,0,0); break;
case go_up : main_board_contrl_send(0x01,40,40); break;
case go_down : main_board_contrl_send(0x02,40,40); break;
case go_left : main_board_contrl_send(0x04,0,25); break;
case go_right : main_board_contrl_send(0x03,25,0); break;
case go_stop : main_board_contrl_send(0x05,0,0); //被动刹车
delayms(30);
main_board_contrl_send(0x00,0,0); //空挡无阻力
break;
default :break;
}
if(lcd_status==Return_button)//按下退出按键
{
//printf("return_button\n");
Lcd_control( "page main");
lcd_status = main_window;
main_board_contrl_send(0x05,0,0); //被动刹车
delayms(30);
main_board_contrl_send(0x00,0,0); //空挡无阻力
return -1;//如果受到返回信号
}
delayms(10);
send_data(0x81,0x88,1); //发送查询定位状态指令
delayms(30);
Lcd_set_val("jiaodu.val=",(int)(*(real_data)*0.01));//向LCD模组发送定位值
delayms(10);
send_data(0x81,0x97,2); //查询IR接收状态
delayms(30);
if((*(real_data)>>8)!=0xf1)
{
Lcd_set_val("ir4.val=",*(real_data)>>8);
delayms(10);
Lcd_set_val("ir3.val=",*(real_data)& 0x00ff);
delayms(10);
Lcd_set_val("ir2.val=",*(real_data+1)>>8);
delayms(10);
Lcd_set_val("ir1.val=",*(real_data+1)& 0x00ff);
delayms(10);
}
//delayms(100);
//lcd_status=0;//状态清零
return 0;//正常刷新数据
}
//*
int robot_ctrl_window1(unsigned short *real_data)//整机控制部分
{
unsigned short run_speed = 250;//最大值700
unsigned short tun_speed =100;
*real_data = 0xf1f0;
switch(lcd_status)
{
case auto_charge_on : main_board_contrl_send1(0x80,0,0); break;
case auto_charge_off : main_board_contrl_send1(0x00,0,0); break;
case go_up : main_board_contrl_send1(0x01,run_speed,run_speed); break;
case go_down : main_board_contrl_send1(0x02,run_speed,run_speed); break;
case go_left : main_board_contrl_send1(0x04,0,tun_speed); break;
case go_right : main_board_contrl_send1(0x03,tun_speed,0); break;
case go_stop : main_board_contrl_send1(0x05,0,0); //被动刹车
delayms(30);
main_board_contrl_send1(0x00,0,0); //空挡无阻力
break;
default :break;
}
if(lcd_status==Return_button1)//按下退出按键
{
//printf("return_button\n");
Lcd_control( "page main1");
lcd_status = main_window;
main_board_contrl_send1(0x05,0,0); //被动刹车
delayms(30);
main_board_contrl_send1(0x00,0,0); //空挡无阻力
delayms(30);
main_board_single_write(0x5a,0x5555);//重启主控板
delayms(30);
return -1;//如果受到返回信号
}
delayms(10);
send_data(0x81,0x88,1); //发送查询定位状态指令
delayms(30);
Lcd_set_val("jiaodu.val=",(int)(*(real_data)*0.01));//向LCD模组发送定位值
delayms(10);