motor.c

MEGA16单片机程序包2

// ICC-AVR application builder : 2007-5-5 21:20:44
// Target : M16
// Crystal: 8.0000Mhz
// Project: auto car

#include "main.h"
/************************************function  description********************************************/

//后轮驱动，前轮转向
//驱动轮使能口为PB3，方向由PB0,PB1控制
//PB0\PB1为0\1时前转，为1\0时后转
//转向轮使能口为PB6，方向由PB4,PB5控制
//PB4\PB5为0\1时右转，为1\0时左转
//PC2,PC1,PC0为超声波检测信号输入端

/*****************************************************************************************************/
void forward(void)
{
 DDRB=0XFF;
 PORTB=(0<<PB0)|(1<<PB1)|(1<<PB3)|(0<<PB4)|(0<<PB5)|(0<<PB6);
 }
 
 
void backward(void)
{
 DDRB=0XFF;
 PORTB=(1<<PB0)|(0<<PB1)|(1<<PB3)|(0<<PB4)|(0<<PB5)|(0<<PB6); 
}

void for_left(void)
{
 DDRB=0XFF;
 PORTB=(0<<PB0)|(1<<PB1)|(1<<PB3)|(1<<PB4)|(0<<PB5)|(1<<PB6); 
} 

void back_left(void)
{
 DDRB=0XFF;
 PORTB=(1<<PB0)|(0<<PB1)|(1<<PB3)|(1<<PB4)|(0<<PB5)|(1<<PB6); 
} 

void for_right(void)
{
 DDRB=0XFF;
 PORTB=(0<<PB0)|(1<<PB1)|(1<<PB3)|(0<<PB4)|(1<<PB5)|(1<<PB6); 
} 

void back_right(void)
{
 DDRB=0XFF;
 PORTB=(1<<PB0)|(0<<PB1)|(1<<PB3)|(0<<PB4)|(1<<PB5)|(1<<PB6); 
} 

void car_stop(void)
{
 DDRB=0XFF;
 PORTB=(0<<PB0)|(0<<PB1)|(0<<PB3)|(0<<PB4)|(0<<PB5)|(0<<PB6); 
}