motor.c

智能遥控车代码

//ADCADC.c : source file for the SmartCar Motor
#include "Motor.h"
#include <io.h>
#include <wdt.h>
#define Max_Speed 100
void PWM_OC1_set(unsigned int Left_Run_Direct,unsigned int Left_Speed,unsigned int Right_Run_Direct,unsigned int Right_Speed)
{	
	cbi(TCCR1B,0);
	if (Left_Speed>Max_Speed){Left_Speed=Max_Speed;}
	if (Right_Speed>Max_Speed){Right_Speed=Max_Speed;}
	if (Left_Run_Direct!=2)
	{	if (Left_Speed>0)
			{	if(Left_Run_Direct){cbi(PORTB,3);	sbi(PORTB,1);OCR1A=Max_Speed-Left_Speed;}
				else{				sbi(PORTB,3);	cbi(PORTB,1);	OCR1A=Left_Speed;		}
			}
		else
			{	OCR1A = 101;		cbi(PORTB,3);	cbi(PORTB,1);
			}//End_if (Left_Speed>0)
	}
	if (Right_Run_Direct!=2)
	{	if (Right_Speed>0)
			{	if(Right_Run_Direct){cbi(PORTB,4);	sbi(PORTB,2);OCR1B=Max_Speed-Right_Speed;}
				else{				sbi(PORTB,4);	cbi(PORTB,2);	OCR1B=Right_Speed;		}
			}
		else
			{	OCR1B = 101;		cbi(PORTB,4);	cbi(PORTB,2);
			}//End_if (Right_Speed>0)
	}
	sbi(TCCR1B,0);	TCNT1=1;
}