my_robo.c

用MEGA16单片机控制的L298转动,包括停,正转,反转

#include <avr/io.h>
#include <avr/signal.h>
#include <avr/interrupt.h>
#include <avr/delay.h>
#include <avr/pgmspace.h>
#include "key.h"
#include "usart.h"


#define PWM1A			PD5 	//OC1A
#define PWM1B			PD4 	//OC1B

#define M1_IN1          PD2
#define M1_IN2          PD3
#define M2_IN1          PD6
#define M2_IN2          PD7
#define M1_EN           PD4
#define M2_EN           PD5

#define MOTOR_CONTROL_PORT    PORTD

#define M1_FORWARD      0x01
#define M1_REVERSE      0x02
#define M2_FORWARD      0x03
#define M2_REVERSE      0x04
#define M1_STOP         0x05
#define M2_STOP         0x06

#define CAR_FRONT       0x01
#define CAR_BACK        0x02
#define CAR_LEFT        0x03
#define CAR_RIGHT       0x04
#define CAR_STOP        0x05

#define LED0            PC0
#define LED1            PC4
#define LED2            PC5
#define LED3            PC3
//Щ﹚竡


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