#ifndef _LED_H_
#define _LED_H_
sbit L298N_DT1=P1^2; //L298N驅動，左輪正轉
sbit L298N_DT2=P1^3; //左輪反轉
sbit L298N_OT1=P1^4; //右輪正轉
sbit L298N_OT2=P1^5; //右輪反轉
sbit BUZZ=P2^3; //蜂鳴器
#define left_EX P3^7 //左探頭
#define Right_EX P3^6 //右探頭
#define Left_PWM P1^6 //左PWM
#define Right_PWM P1^7 //右PWM
#define Left_Go {P1^2=1,P1^3=0;} //左輪正轉
#define Left_Back {P1^2=0,P1^3=1;} //左輪反轉
#define Left_Stop {P1^2=0,P1^3=0;} //左輪停轉
#define Right_Go {P1^4=1,P1^5=0;} //右輪正轉
#define Right_Back {P1^4=0,P1^5=1;} //右輪反轉
#define Right_Stop {P1^4=0,P1^5=0;} //右輪停轉
unsigned char Left_val_PWM=0; //定義變量
unsigned char Left_val_Push=0; //左占空比
unsigned char Right_val_PWM=0;
unsigned char Right_val_Push=0; //右占空比
bit Right_stop=1;
bit Left_stop=1;
unsigned int time=0;
void delay(int i)
{ //延時函數
while(i--);
}
//全速前進
void run(void)
{
Left_val_Push=12; //速度調節，12級
Right_val_Push=12;
Left_Go ; //左右前轉
Right_Go ;
}
//全速后退
void back(void)
{
Left_val_Push=12;
Right_val_Push=12;
Left_Back; //左右后轉
Right_Back;
}
//左轉
void leftrun(void)
{
Left_val_Push=5; //左輪慢
Right_val_Push=15; //右輪快
Left_Back; //左輪后轉
Right_Go; //右輪前轉
}
//右轉
void rightrun(void)
{
Left_val_Push=15; //左輪快
Right_val_Push=5; //右輪慢
Left_Go; //左輪前轉
Right_Back; //右輪后轉
}
//停止
void stop(void)
{
Left_Stop; //左輪停止
Right_Stop; //右輪停止
}
//左電機PWM調速
void Left_PWM_out(void)
{
if(Left_Stop)
{
if(Left_val_Push>=Left_val_PWM)
{
Left_PWM=1;
}
else
{
Left_PWM=0;
}
if(Left_val_PWM>=20)
Left_val_Push=0;
}
else
{
Left_PWM=0;
}
}
//右電機調速
void Right_PWM_out(void)
{
if(Right_Stop)
{
if(Right_val_Push>=Right_val_PWM)
{
Right_PWM=1;
}
else
{
Right_PWM=0;
}
if(Right_val_PWM>=20)
Right_val_Push=0;
}
else
{
Right_PWM=0;
}
}
//中斷
void timer0()interrupt 1 using 2
{
TH0=0XFc; //1Ms定時
TL0=0X18;
time++;
Left_val_PWM++;
Right_val_PWM++;
Left_PWM_out();
Right_PWM_out();
}
#endif
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