dianji.c

寻迹机器人c语言程序

/************************PWM驱动程序***************************************/
/*     对10kHZ输出的pwm波T2=FC18
                  占空比   T寄存器值
                  95%      0xFF9C          05%  0xFFFB
                  85%      0xFF51          15%  0xFFe7
                  75%      0xFFB5          25%  0xFFE7
                  50%      0xFFCE          50%  0xFFCE
                  30%      0xFFE2          70%  0xFFBA  
                  10%      0xFF9C          90%  0xFFA6
*/
#include<THInit.h>

void pwm(uchar way)
{
     pwmInit(way);
}

void timer0(void)interrupt 1 using 1    //左轮占空比脉冲
{
    pwmLeft=~pwmLeft;
    if(pwmLeft)
    {
        TH0=pwm0TH0High;     
        TL0=pwm0TL0High; 
    }  
    else
    {
        TH0=pwm0TH0Low;     
        TL0=pwm0TL0Low; 
    }
}


void timer1(void)interrupt 3 using 2   //右轮占空比脉冲
{
    pwmRight=~pwmRight;
    if(pwmRight)
    {
        TH1=pwm1TH1High;     
        TL1=pwm1TL1High; 
    }  
    else
    {
        TH1=pwm1TH1Low;     
        TL1=pwm1TL1Low; 
    }
}

void pwmInit(uchar n)
{
    switch(n)
    {
        case(0):         //两轮全速
         pwm0TH0High=C95HTH;    //  95
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;     
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;    
         pwm1TL1Low=C95LTL; 
         break;
         
        case(1):
         pwm0TH0High=C85HTH;    //  85
         pwm0TL0High=C85HTL;   
         pwm0TH0Low=C85LTH;     
         pwm0TL0Low=C85LTL; 
         pwm1TH1High=C85HTH;    //  85
         pwm1TL1High=C85HTL; 
         pwm1TH1Low=C85LTH;    
         pwm1TL1Low=C85LTL; 
         break;
         
        case(2):
         pwm0TH0High=C75HTH;    //  75
         pwm0TL0High=C75HTL;   
         pwm0TH0Low=C75LTH;     
         pwm0TL0Low=C75LTL; 
         pwm1TH1High=C75HTH;    //  75
         pwm1TL1High=C75HTL; 
         pwm1TH1Low=C75LTH;     
         pwm1TL1Low=C75LTL; 
         break;
          
        case(3):
         pwm0TH0High=C65HTH;    //  65
         pwm0TL0High=C65HTL;   
         pwm0TH0Low=C65LTH;     
         pwm0TL0Low=C65LTL; 
         pwm1TH1High=C65HTH;    //  65
         pwm1TL1High=C65HTL; 
         pwm1TH1Low=C65LTH;    
         pwm1TL1Low=C65LTL; 
         break;
         
        case(4):
         pwm0TH0High=C55HTH;    //  55
         pwm0TL0High=C55HTL;   
         pwm0TH0Low=C55LTH;     
         pwm0TL0Low=C55LTL; 
         pwm1TH1High=C55HTH;    //  55
         pwm1TL1High=C55HTL; 
         pwm1TH1Low=C55LTH;     
         pwm1TL1Low=C55LTL; 
         break;
/**********************************************************/
        case(5):
         pwm0TH0High=C95HTH;    //  95
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;    
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C85HTH;    //  85
         pwm1TL1High=C85HTL; 
         pwm1TH1Low=C85LTH;     
         pwm1TL1Low=C85LTL; 
         break;
         
        case(6):
         pwm0TH0High=C85HTH;    //  85
         pwm0TL0High=C85HTL;   
         pwm0TH0Low=C85LTH;    
         pwm0TL0Low=C85LTL; 
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;    
         pwm1TL1Low=C95LTL; 
         break;
         
        case(7):
         pwm0TH0High=C95HTH;    //  95
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;     
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C75HTH;    //  75
         pwm1TL1High=C75HTL; 
         pwm1TH1Low=C75LTH;    
         pwm1TL1Low=C75LTL; 
         break;
         
        case(8):         
         pwm0TH0High=C75HTH;    //  75
         pwm0TL0High=C75HTL;   
         pwm0TH0Low=C75LTH;     
         pwm0TL0Low=C75LTL; 
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;    
         pwm1TL1Low=C95LTL; 
         break;
        
        case(9):
         pwm0TH0High=C95HTH;    //  95us
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;     
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C65HTH;    //  65
         pwm1TL1High=C65HTL; 
         pwm1TH1Low=C65LTH;     
         pwm1TL1Low=C65LTL; 
         break;
         
        case(10):         
         pwm0TH0High=C65HTH;    //  65
         pwm0TL0High=C65HTL;   
         pwm0TH0Low=C65LTH;    
         pwm0TL0Low=C65LTL; 
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;     
         pwm1TL1Low=C95LTL; 
         break;
        
        case(11):
         pwm0TH0High=C95HTH;    //  95
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;     
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C55HTH;    //  55
         pwm1TL1High=C55HTL; 
         pwm1TH1Low=C55LTH;     
         pwm1TL1Low=C55LTL; 
         break;
          
        case(12):         
         pwm0TH0High=C55HTH;    //  55
         pwm0TL0High=C55HTL;   
         pwm0TH0Low=C55LTH;     
         pwm0TL0Low=C55LTL; 
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;     
         pwm1TL1Low=C95LTL; 
         break;
        
        case(13):
         pwm0TH0High=C95HTH;    //  95
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;    
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C45HTH;    //  45
         pwm1TL1High=C45HTL; 
         pwm1TH1Low=C45LTH;     
         pwm1TL1Low=C45LTL;  
         break;
         
        case(14):         
         pwm0TH0High=C45HTH;    //  45
         pwm0TL0High=C45HTL;   
         pwm0TH0Low=C45LTH;   
         pwm0TL0Low=C45LTL;   
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;     
         pwm1TL1Low=C95LTL; 
         break;
        
        case(15):
         pwm0TH0High=C95HTH;    //  95
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;    
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C35HTH;    //  35
         pwm1TL1High=C35HTL; 
         pwm1TH1Low=C35LTH;     
         pwm1TL1Low=C35LTL; 
         break;
         
        case(16):         
         pwm0TH0High=C35HTH;    //  35
         pwm0TL0High=C35HTL;   
         pwm0TH0Low=C35LTH;     
         pwm0TL0Low=C35LTL; 
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;     
         pwm1TL1Low=C95LTL; 
         break;
        
        case(17):
         pwm0TH0High=C95HTH;    //  95
         pwm0TL0High=C95HTL;   
         pwm0TH0Low=C95LTH;    
         pwm0TL0Low=C95LTL; 
         pwm1TH1High=C05HTH;    //   5
         pwm1TL1High=C05HTL; 
         pwm1TH1Low=C05LTH;     
         pwm1TL1Low=C05LTL; 
         break;
         
        case(18):         
         pwm0TH0High=C05HTH;    //  5
         pwm0TL0High=C05HTL;   
         pwm0TH0Low=C05LTH;     
         pwm0TL0Low=C05LTL; 
         pwm1TH1High=C95HTH;    //  95
         pwm1TL1High=C95HTL; 
         pwm1TH1Low=C95LTH;     
         pwm1TL1Low=C95LTL; 
         break;
/**************************************************************/
 
       case(19):
         pwm0TH0High=C85HTH;    //  85
         pwm0TL0High=C85HTL;   
         pwm0TH0Low=C85LTH;     
         pwm0TL0Low=C85LTL; 
         pwm1TH1High=C75HTH;    //  75
         pwm1TL1High=C75HTL; 
         pwm1TH1Low=C75LTH;    
         pwm1TL1Low=C75LTL; 
         break;
         
        case(20):
         pwm0TH0High=C75HTH;    //  75
         pwm0TL0High=C75HTL;   
         pwm0TH0Low=C75LTH;     
         pwm0TL0Low=C75LTL; 
         pwm1TH1High=C85HTH;    //  85
         pwm1TL1High=C85HTL; 
         pwm1TH1Low=C85LTH;    
         pwm1TL1Low=C85LTL; 
         break;
         
        case(21):
         pwm0TH0High=C85HTH;    //  85
         pwm0TL0High=C85HTL;   
         pwm0TH0Low=C85LTH;     
         pwm0TL0Low=C85LTL; 
         pwm1TH1High=C65HTH;    //  65
         pwm1TL1High=C65HTL; 
         pwm1TH1Low=C65LTH;    
         pwm1TL1Low=C65LTL; 
         break;
         
        case(22):         
         pwm0TH0High=C65HTH;    //  65
         pwm0TL0High=C65HTL;   
         pwm0TH0Low=C65LTH;     
         pwm0TL0Low=C65LTL; 
         pwm1TH1High=C85HTH;    //  85
         pwm1TL1High=C85HTL; 
         pwm1TH1Low=C85LTH;     
         pwm1TL1Low=C85LTL; 
         break; 
        
        case(23):
         pwm0TH0High=C85HTH;    //  85
         pwm0TL0High=C85HTL;   
         pwm0TH0Low=C85LTH;    
         pwm0TL0Low=C85LTL; 
         pwm1TH1High=C55HTH;    //  55
         pwm1TL1High=C55HTL; 
         pwm1TH1Low=C55LTH;    
         pwm1TL1Low=C55LTL; 
         break;
         
        case(24):         
         pwm0TH0High=C55HTH;    //  55
         pwm0TL0High=C55HTL;   
         pwm0TH0Low=C55LTH;    
         pwm0TL0Low=C55LTL; 
         pwm1TH1High=C85HTH;    //  85
         pwm1TL1High=C85HTL; 
         pwm1TH1Low=C85LTH;     
         pwm1TL1Low=C85LTL; 
         break;
        
        case(25):
         pwm0TH0High=C85HTH;    //  85
         pwm0TL0High=C85HTL;   
         pwm0TH0Low=C85LTH;    
         pwm0TL0Low=C85LTL; 
         pwm1TH1High=C45HTH;    //  45
         pwm1TL1High=C45HTL; 
         pwm1TH1Low=C45LTH;     
         pwm1TL1Low=C45LTL; 
         break;
          
        case(26):         
         pwm0TH0High=C45HTH;    //  45
         pwm0TL0High=C45HTL;   
         pwm0TH0Low=C45LTH;    
         pwm0TL0Low=C45LTL; 
         pwm1TH1High=C85HTH;    //  85
         pwm1TL1High=C85HTL; 
         pwm1TH1Low=C85LTH;   
         pwm1TL1Low=C85LTL; 
         break;
        
        case(27):
         pwm0TH0High=C85HTH;    //  85
         pwm0TL0High=C85HTL;   
         pwm0TH0Low=C85LTH;     
         pwm0TL0Low=C85LTL; 
         pwm1TH1High=C35HTH;    //  35
         pwm1TL1High=C35HTL; 
         pwm1TH1Low=C35LTH;    
         pwm1TL1Low=C35LTL; 
         break;
         
        case(28):         
         pwm0TH0High=C35HTH;    //  35
         pwm0TL0High=C35HTL;   
         pwm0TH0Low=C35LTH;    
         pwm0TL0Low=C35LTL; 
         pwm1TH1High=C85HTH;    //  85
         pwm1TL1High=C85HTL; 
         pwm1TH1Low=C85LTH;    
         pwm1TL1Low=C85LTL; 
         break;