thinit.h

寻迹机器人c语言程序

/**************************************************/
/*         驱动电机频率1000 000/2 000=500HZ
                       95%      0xF844
                       85%      0xF95C
                       75%      0xFA24
                       65%      0xFAEC
                       55%      0xFBB4
                       45%      0xFC7C
                       35%      0xFD44
                       25%      0xFE0C
                       15%      0xFED4
                        5%      0xFFEC
*/

#ifndef _THInit_h
#define _THInit_h

#include<reg52.h>
#include<absacc.h>
#include<intrins.h>
#define nop _nop_()

#define uchar unsigned char
#define uint  unsigned int

sbit pwmLeft=P2^0;
sbit pwmRight=P2^1;

void pwmInit(uchar n);

volatile uchar pwm0TH0High=0xFF;   //95us
volatile uchar pwm0TL0High=0xA1;
volatile uchar pwm0TH0Low=0xFF;    //5us
volatile uchar pwm0TL0Low=0xFB;

volatile uchar pwm1TH1High=0xFF;    //95US
volatile uchar pwm1TL1High=0xA1;
volatile uchar pwm1TH1Low=0xFF;    //5US
volatile uchar pwm1TL1Low=0xFB;

#define C95HTH 0xF8          //-******--95%
#define C95HTL 0x44
#define C95LTH 0xFF         //5%
#define C95LTL 0xEC

#define C85HTH 0xF9          //-******--85%
#define C85HTL 0x5C
#define C85LTH 0xFE          //15%
#define C85LTL 0xD4

#define C75HTH 0xFA         //-******--75%
#define C75HTL 0x24
#define C75LTH 0xFE        //25%
#define C75LTL 0x0C

#define C65HTH 0xFA          //-******--65%
#define C65HTL 0xEC
#define C65LTH 0xFD          //35%
#define C65LTL 0x44

#define C55HTH 0xFB          //-******--55%
#define C55HTL 0xB4
#define C55LTH 0xFC          //45%
#define C55LTL 0x7C

#define C45HTH 0xFC          //-******--45%
#define C45HTL 0x7C
#define C45LTH 0xFB          //55%
#define C45LTL 0xB4

#define C35HTH 0xFD          //-******--35%
#define C35HTL 0x44
#define C35LTH 0xFA          //65%
#define C35LTL 0xEC

#define C05HTH 0xFF          //-******--5%
#define C05HTL 0xEC
#define C05LTH 0xF8          //95%
#define C05LTL 0x44






#endif