main._c

MEGA16单片机程序包2

#include "main.h"

unsigned char ReadPin(void)
{
 unsigned char i;
 
/* 定义上拉电阻和设置高电平输出 */
/* 为端口引脚定义方向 */
PORTC = 0XFF;
DDRC = 0X00;
/* 为了同步插入nop 指令*/
_NOP();
/* 读取端口引脚*/
i = PINC;
}

void  car_turn(unsigned char mes)
{
  switch(mes)
       {
	    case 0xf8:  forward();                     break;
		
		case 0xf9:  {
					  back_left();
					  delay(1000);
					  car_stop();
					  delay(1000);
					  for_right(); 
					  delay(1000);
					};                             break;
					
		case 0xfa:  {
		            backward();
		            delay(1000);
					};                             break;
					
					                             
		case 0xfb:  {
		              back_left(); 
					  delay(1000);
					  car_stop();
					  delay(1000);
					  for_right();
					  delay(1000);
					};                             break;
					
		case 0xfc:  {
		              back_right();
					  delay(1000);
					  car_stop();
					  delay(1000);
					  for_left();
					  delay(1000);
				    };                             break;
					
		case 0xfd:    forward();                   break;
		
		case 0xfe:  {
		              back_right();
					  delay(1000);
					  car_stop();
					  delay(1000);
					  for_left();
					  delay(1000);
					};                             break;
					
		case 0xff:  {
		              backward(); 
		              delay(1000);
					}                              break; 
					
        default:                                   break;
		
		}
}


void main()
{
 unsigned char pin = 0x00;
 while(1)
   {
    pin = ReadPin();
    car_turn(pin);
   }
}