main.c

MEGA16单片机程序包2

#include "main.h"
void delay(unsigned int n)       //N ms延时函数 
  { 
   unsigned int i;
   while(n--) 
   for (i=0;i<125;i++); 
  } 
  
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 0xf7:  for_left();                     break;
		
		case 0xef:  forward();                      break;
					
		case 0xdf:  for_right();                    break;
		            
		case 0xe7:  for_left();                     break;
		              
		case 0xcf:  for_right();                    break;
		
		case 0xff:  backward();                     break;
		
		default:    forward();                      break;             
					            
		}
}


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