mydefine.h

蛇形机器人程序

////////////////////////////////////
//mydefine//
/////////////////////////

/////////////////////////////////////
#include "AT892051.H"

#define DriveLeftMo1 P1_2
#define DriveLeftMo2 P1_3
#define DriveRightMo1 P1_4
#define DriveRightMo2 P1_5

#define Sensor0 P3_2
#define Sensor1 P3_3
#define Sensor2 P3_4
#define Sensor3 P3_5

#define Left 1
#define Right 0

extern bit MOTORLEFT;
extern bit MOTORRIGHT;
extern unsigned int SpeedRight,SpeedLeft;
extern unsigned int PWM_0,PWM_1;
extern bdata bit DirectionRight,DirectionLeft;
extern data unsigned int pwm[16];

extern bdata unsigned char State;
//extern bit  State0,State1,State2,State3;


 extern void Initialize (void);
 extern void Delay (unsigned int Time);
 //extern void ReadSlideState(void); 
 //extern void SlideRun(void);
 //extern void run(char Speed,char MotorNum);
 //extern void TurnLeft(char Delta);
 //extern void TurnRight(char Delta);
 //extern void Timer1(void);
extern void pwm_gen();
extern void Run(void);
extern void Run_in(void);
extern void Stop(void);
extern void SpeedUp(unsigned int Delta,bit Motor);
extern void SpeedDown(unsigned int Delta,bit Motor);
extern void Run_at(unsigned int Speed,bit Motor);