motor_pwm_text.c

机器人部分C语言编码 c语言 供大家参考学习

#include "p89v51rx2.h"
#include "constant_type.h"
#include "delay.h"
#include "global.h"
#include "lcd.h"
#include "pca.h"
#include "ir_sensor.h"

void main()
{
	u08 num=0;
	LCD_Init();
	LCD_clear(); 
	delay_ms(50);
	LCD_write_string(0,1,"text motor_pwm");
	delay_ms(30);	
	EA=1;			//开全局中断			
	PWM_Init();
	change_angle(100,250);
	change_angle(0,0);	
	key_on_off(1);		
	IR_head_roll_on_off(1);
	while(1)
	{
	  get_IR_head();
	  LCD_write_8num(1,5,num);
	  if(IR_head_L==0&&IR_head_R==0)
	  {
	 	 delay_ms(100);
		   if(IR_head_L==0&&IR_head_R==0&&num==0)
		   {
	  	  		change_angle(220,95);
				delay_ms(1000);
				change_high(0,380);
				delay_ms(1000);					
				get_IR_head(); 
				num++;
			}
			if(IR_head_L==0&&IR_head_R==0&&num==1)
		   {
	  	  		
				change_high(380,370);
				delay_ms(1000);	
				change_angle(95,220);
				delay_ms(1000);
				change_high(370,1);
				delay_ms(1000);	
				change_angle(220,95);
				delay_ms(1000);
				change_high(1,375);
				get_IR_head();				
				num++;
			}	
	  }


/*		if(KEY_1==0)
		{
			delay_ms(50);
			if(KEY_1==0)
			{

			
				change_angle(250,110);
				delay_ms(1000);
				change_high(0,600);
				delay_ms(3000);			
			}
		}
		if(KEY_2==0)
		{
			delay_ms(50);
			if(KEY_2==0)
			{				
			change_high(600,1);
			change_high(1,0);
				delay_ms(1000);
				change_angle(110,250);
				delay_ms(1000);
				change_angle(0,0);		
			}
		}
		  */
	}
}