📄 main.c
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/***************************************************************
Date: 2007 03 09
Description: IM-Robot main function
***************************************************************/
#include "IM_Robot.h"
#include "math.h"
UInt16 Motor_spd_1 = 3, Motor_spd_2 = 0, Motor_pos_1 = 0, Motor_pos_2 = 0;
UInt16 r1 = 0;
UInt16 Err_now = 0, Err_abs = 0, Pos_now = 0, Pos_goal = 0;
UInt16 temp = 0, i = 0, j = 0;
unsigned long *temp_ptr, memory_num = 0;
long int Index_adc = 0, Index_dac = 40000;
int main()
{
Disable_IRQ();
System_Init();
Set_Mem();
Set_Gpio();
// temp_ptr = (unsigned long*)0x280000;
INT_IRQ();
ADC_Setup_MIC();
ADC_Setup_Reg->B.ASMEN = 1; // start recording voice
memory_num = 0x200000;
while(1)
{
if (*P_TimerD_UpCount >= 0xFFFE)
break; // 秨﹍魁
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