——來(lái)自迪文開(kāi)發(fā)者論壇

本期為大家推送迪文開(kāi)發(fā)者論壇獲獎(jiǎng)開(kāi)源案例——?基于T5L的零食機(jī)?。該方案基于T5L芯片，通過(guò)PWM接口實(shí)現(xiàn)實(shí)時(shí)調(diào)控爪子抓取力度、速度，并支持后臺(tái)按鍵長(zhǎng)按時(shí)間    讀取，各模塊自檢，報(bào)錯(cuò)提醒，同步顯示用戶投幣次數(shù)、游戲倒計(jì)時(shí)等功能，支持投幣比例、游戲模式、多語(yǔ)言界面、抓力閾值等參數(shù)設(shè)置。

【演示視頻】

視頻由論壇工程師實(shí)拍提供

完整開(kāi)發(fā)資料含迪文屏DGUS工程資料與C51代碼，獲取方式：

1. 前往迪文開(kāi)發(fā)者論壇獲取：http://inforum.dwin.com.cn:20080/forum.php?    mod=viewthread&tid=12062&extra=page%3D1&_dsign=80f3adcc

2    . 微信公眾號(hào)中回復(fù)“零食機(jī)”獲取。

【GUI工程設(shè)計(jì)】

【C51工程設(shè)計(jì)】

（1）T5L智能屏和主控的通信代碼

void uart2_master_isr()        interrupt 4

{

        u8 res;

        if(RI0)

        {

                RI0 = 0;

                res = SBUF0;

                uart2_rx_timeout = UART2_RX_TIMEOUT;

                if((uart2_rx_sta&UART2_PACKET_OK)==0)

                {

                        if(step==0)

                        {

                                recv_len = 0;

                                if(res==0x15)

                                step = 1;

                        }

                        else if(step==1)

                        {

                                date_len = res;

                                step  = 2;

                                if(date_len>UART2_PACKET_MAX_LEN)

                                step = 0;

                        }

                        else if(step==2)

                        {

                                if(recv_len==date_len)

                                {

                                        step = 0;

                                        if(res==0x16)

                                        {

                                                uart2_rx_sta = date_len;

                                                uart2_rx_sta |= UART2_PACKET_OK;

                                         }

                            }

                            else

                                    uart2_buf[recv_len++] = res;

                        }

                }

        }

}

（2）電機(jī)的驅(qū)動(dòng)代碼

void motor_move(MOTOR motor, MOTOR_DIR dir)

{

        if (motor == MOTOR_Z) // Z軸上的爪子電機(jī)

        {

                if (dir == MOTOR_DIR_NONE) // 停止

                {

                        MOTOR_Z_DISABLE();

                }

                else

                {

                        if ((IS_MOTOR_Z_BACKWARD_POS() && (dir == MOTOR_DIR_BACKWARD)) ||

                        (IS_MOTOR_Z_FORWARD_POS() && (dir == MOTOR_DIR_FORWARD)))

                        {

                                MOTOR_Z_DISABLE();

                                dir = MOTOR_DIR_NONE;

                        }

                        else

                        {

                                MOTOR_Z_ENABLE();

                                MOTOR_Z_DIR_PIN = (dir == MOTOR_DIR_BACKWARD);

                        }

                 }

        }

        else if (motor == MOTOR_X) // X軸移動(dòng)電機(jī)

        {

                if (dir == MOTOR_DIR_NONE) // 停止

                {

                        MOTOR_X_DISABLE();

                }

                else

                {

                        if (IS_MOTOR_X_BACKWARD_POS() && (dir == MOTOR_DIR_BACKWARD))

                        {

                                MOTOR_X_DISABLE();

                                dir = MOTOR_DIR_NONE;

                        }

                        else

                        {

                                MOTOR_X_ENABLE();

                                MOTOR_X_DIR_PIN = (dir == MOTOR_DIR_BACKWARD);

                        }

                }

                x_last_dir = dir;

         }

        else if (motor == MOTOR_Y) // Y軸移動(dòng)電機(jī)

        {

                if (dir == MOTOR_DIR_NONE) // 停止

                {

                        MOTOR_Y_DISABLE();

                }

                else

                {

                        if ((IS_MOTOR_Y_BACKWARD_POS() && (dir == MOTOR_DIR_BACKWARD)) ||

                        (IS_MOTOR_Y_FORWARD_POS() && (dir == MOTOR_DIR_FORWARD)))

                        {

                                MOTOR_Y_DISABLE();

                                dir = MOTOR_DIR_NONE;

                        }

                        else

                        {

                                MOTOR_Y_ENABLE();

                                MOTOR_Y_DIR_PIN = (dir == MOTOR_DIR_BACKWARD);

                        }

                }

                y_last_dir = dir;

        }

        else if (motor == MOTOR_CLAW)

        {

                if (dir == MOTOR_DIR_NONE)

                {

                        MOTOR_CLAW_RELEASE();

                }

                else

                {

                        MOTOR_CLAW_HOLD();

                }

        }

}

（3）通過(guò)PWM調(diào)節(jié)爪子力度，速度的代碼

const u16 MOTOR_DUTY[MOTOR_TOTAL][MOTOR_SPEED_MAX+1] = {

       {45+DUTY_OFFSET,60+DUTY_OFFSET,80+DUTY_OFFSET,110+DUTY_OFFSET,130+DUTY_OFFSET,160+DUTY_OFFSET,200+DUTY_OFFSET,250+DUTY_OFFSET,550+DUTY_OFFSET,TIM_ARR},//X

        {45+DUTY_OFFSET,60+DUTY_OFFSET,80+DUTY_OFFSET,110+DUTY_OFFSET,130+DUTY_OFFSET,160+DUTY_OFFSET,200+DUTY_OFFSET,250+DUTY_OFFSET,550+DUTY_OFFSET,TIM_ARR},//Y

        {45,60,80,110,130,160,200,250,550,TIM_ARR},//Z

        {200,220,240,270,290,320,360,410,550,TIM_ARR}//爪子

};

void motor_set_speed(MOTOR motor,u8 speed)

        {

                if(speed>MOTOR_SPEED_MAX)

                return;

                pwm_set_duty((PWM_CH)motor,MOTOR_DUTY[motor][speed]);

        }

void motor_set_claw_strength_by_vol(float vol)

{

        #define CLAW_DUTY_MIN                        200

        #define CLAW_DUTY_MAX                        TIM_ARR

        u16 duty;

        vol = (float)(vol-QZLDY_MIN)/(QZLDY_MAX-QZLDY_MIN);

        if(vol<0)

        vol = 0;

        else if(vol>1)

        vol = 1;

        duty = (u16)(vol*(CLAW_DUTY_MAX-CLAW_DUTY_MIN)+0.5f)+CLAW_DUTY_MIN;

        pwm_set_duty(PWM_CH_MOTOR_CLAW, duty);

}

（4）廠家后臺(tái)按鍵長(zhǎng)按檢測(cè)

u8 key_check_long_press(KEY key,u32 time)

{

        while(1)

        {

                if(!(KEY_Scan(1)&key))

                return 1;//失敗

                if(time)

                {

                        sys_delay_ms(1);

                        time--;

                        if(time==0)

                        return 0;//成功

                }

        }

}