Code_for_Bot

/*this program is for controlling a robot using bluetooth and android app*/

 

#include<reg51.h>

 

unsigned char ch1;

unsigned char s;

 

sbit m1f=P2^0;             // in1 pin of motor1

sbit m1b=P2^1;             // in2 pin of motor1

sbit m2f=P2^2;             // in1 pin of motor2

sbit m2b=P2^3;             // in2 pin of motor2

  

void delay(unsigned int)  ;        //function for creating delay

char rxdata(void);                 //function for receiving a character through serial port of 8051 

void txdata(unsigned char); //function for sending a character through serial port of 8051 

 

void main(void)

 {

unsigned char i;

unsigned char msg1[]={"robot is moving forward"};

unsigned char msg2[]={"robot is moving backward"};

unsigned char msg3[]={"robot is moving right"};

unsigned char msg4[]={"robot is moving left"};

unsigned char msg5[]={"robot is stopped"};

 

TMOD=0x20;   //timer 1 , mode 2 , auto reload

SCON=0x50;    //8bit data , 1 stop bit , REN enabled

TH1=0xfd;     //timer value for 9600 bits per second(bps)

TR1=1;            

 

while(1)             //repeat forever

{

     s=rxdata(); //receive serial data from hc-05 bluetooth module

if(s=='f') //move both the motors in forward direction

     {

         m1f=1;

   delay(1);

         m1b=0;

   delay(1);

         m2f=1;

   delay(1);

         m2b=0;

   delay(1);

        for(i=0;msg1[i]!='\0';i++)

{

    txdata(msg1[i]);

} 

 

    }

 

     else if(s=='b')  

     {

         m1f=0;

    delay(1);

         m1b=1;

    delay(10);

         m2f=0;

    delay(10);

         m2b=1;

    delay(10);

    for(i=0;msg2[i]!='\0';i++)   

         {

   txdata(msg2[i]);

    }

     }

 

     else if(s=='r')

     {

         m1f=1;

         delay(1);

         m1b=0;   

   delay(10);

         m2f=0;

   delay(10);

         m2b=1;

delay(10);

for(i=0;msg3[i]!='\0';i++)   

{

    txdata(msg3[i]);

} 

                }

 

     else if(s=='l')

     {

         m1f=0;

         delay(1);

         m1b=1;

    delay(1);

         m2f=1;

    delay(1);

         m2b=0;

    delay(1);

    for(i=0;msg4[i]!='\0';i++)

        {

    txdata(msg4[i]);

   } 

    }

 

     else if(s=='s')  

     {

         m1f=0;

         delay(1);

         m1b=0;

    delay(1);

         m2f=0;

    delay(1);

         m2b=0;

   delay(1);

   for(i=0;msg5[i]!='\0';i++)

        {

  txdata(msg5[i]);

   }

    }

      txdata('\n');  

     

                    }

}

 

char rxdata()

{

  while(RI==0);   //wait till RI becomes HIGH

  RI=0;           //make RI low

  ch1=SBUF;      //copy received data 

  return ch1;     //return the received data to main function.

}

 

void txdata(unsigned char x)

{

   SBUF=x; //copy data to be transmitted to SBUF

   while(TI==0); //wait till TI becomes high

   TI=0; //mae TI low for next transmission

}

 

void delay(unsigned int z)

{

  unsigned int p ,q;

  for(p=0 ; p<z ; p++)    //repeat for 'z' times

  {

    for(q=0 ; q<1375 ; q++);   //repeat for 1375 times

  }

}