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 0x00:  forward();                     break;
		
		case 0x01:  {
					  back_left();
					  delay(1000);
//					  car_stop();
//					  delay(1000);
					  for_right(); 
					  delay(1000);
					 
					};                             break;
					
		case 0x02:  {
		              backward();
		              delay(1000);
					  for_left();
					  delay(1000);
					};                             break;
					
					                             
		case 0x03:  {
		              back_left(); 
					  delay(1000);
//					  car_stop();
//					  delay(1000);
					  for_right();
					  delay(1000);
					  
					};                             break;
					
		case 0x04:  {
		              back_right();
					  delay(1000);
//					  car_stop();
//					  delay(1000);
					  for_left();
					  delay(1000);
					 
				    };                             break;
					
		case 0x05:    forward();                   break;
		
		case 0x06:  {
		              back_right();
					  delay(1000);
//					  car_stop();
//					  delay(1000);
					  for_left();
					  delay(1000);
					  
					};                             break;
					
		case 0x07:  {
		              backward(); 
		              delay(1000);
					  for_left();
					  delay(1000);
					};                              break;
					 
		case 0x30:  for_left();                     break;
		
		case 0x28:  forward();                      break;
					
		case 0x18:  for_right();                    break;
		            
		case 0x20:  for_left();                     break;
		              
		case 0x08:  for_right();                    break;
		
		case 0x38:  backward();                     break;
		
		default:    forward();                      break; 			
					
		
		}
}


void main()
{
 unsigned char mesg,mesc;
 unsigned char pin = 0x00;
 init_lcd();
 LCD_write_string(0,0,"auto car");
 LCD_write_string(0,1,"ATMega 16");

 while(1)
   {   
    mesg = 0x00;
	mesc = 0x00;
    pin = ReadPin();
	mesc|= pin&0x07;
	mesg|= pin&0x38;
	if(mesc)
        car_turn(mesc);
	else
	    car_turn(mesg);
   }
}