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📄 main.c

📁 LM629运动控制器操作
💻 C
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123 
  P2IE|=BIT1;
  P2IES&=~BIT1;
  P2IE|=BIT0;
  P2IES&=~BIT0;
}
void init_timer_a()
{
  TACTL=TASSEL0+MC0+TACLR;
  TACCTL0=CCIE;
  TACCR0=300;
}
void init_timer_b()
{
  TBCTL=TBSSEL0+MC0+TBCLR;//ACLK 连续计数模式
  TBCCTL0=CCIE;
  TBCCR0=8192;    //32768;
}
#pragma vector=TIMERA0_VECTOR
__interrupt void timer_a0_isr()
{
 temp7=rd_front(); //前排灯数据
 temp8=rd_back();  //后排灯数据
 counter=counter_table(); //数格
}
#pragma vector=PORT2_VECTOR
__interrupt void port2_isr()
{
  P2IE&=~BIT1;
  P2IE&=~BIT0;
  if(P2IFG&BIT1)
  {sign_position++;}
  if(P2IFG&BIT0)
  {hand_sign++;}
  P2IFG&=~BIT1;
  P2IFG&=~BIT0;
}
#pragma vector=TIMERB0_VECTOR
__interrupt void timerb0_isr()
{
  t++;
  if(t==1)
  {
    t=0;
    t1=0;
  }
}
void delay2s()
{
 init_timer_b();
 _EINT();
  while(t1);
  t1=1;
  TBCCTL0&=~CCIE;
}
void stop()//pwm=0刹车
{
  P5OUT&=~BIT2;
  P5OUT&=~BIT3;
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x04);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_cmd(STT);
  DELAY();
  P5OUT|=BIT2;
  P5OUT|=BIT3;
}
unsigned int rd_front()
{
  P6OUT&=~BIT7;
  P6OUT|=BIT6;
  DELAY();
  temp1=P2IN;
  temp2=P3IN;
  temp1&=0xe0;
  temp3=(int)temp1;
  temp4=(int)temp2;
  temp5=(temp4<<8)+temp3;//前排灯的数据
  return temp5;
}
unsigned char rd_back()
{
  P6OUT&=~BIT6;
  P6OUT|=BIT7;
  DELAY();
  temp2=P3IN;
  temp6=temp2&0xfe; //后排灯数据
  return temp6;
}
unsigned char counter_table()
{
  P6OUT|=BIT6;
  P6OUT&=~BIT7;
  DELAY();
  counter1=0;
  temp1=P2IN;
  temp2=P3IN;
  temp1&=0xe0;
  temp3=(int)temp1;
  temp4=(int)temp2;
  temp5=(temp4<<8)+temp3;//前排灯的数据
  counter1=((temp5&0x8000)>>15)+((temp5&0x4000)>>14)+((temp5&0x2000)>>13)+((temp5&0x1000)>>12)+((temp5&0x0800)>>11)+((temp5&0x0400)>>10)+((temp5&0x0200)>>9)+((temp5&0x0100)>>8)+((temp5&0x0080)>>7)+((temp5&0x0040)>>6)+((temp5&0x0020)>>5);
  if(counter1<=6){sign=1;}
  if((sign==1)&(counter1>8))
  {counter2++;sign=0;}
  return counter2;
}
void turn_left(unsigned char v1,unsigned char v2,unsigned char v3 )
{
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  traj_sel2( v1, v2, v3,0x00,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT3;//CS=1
  DELAY();
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  traj_sel2(0x00,0xa0,0xFF,0x00,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT2;//CS=1
}
void turn_right(unsigned char v4,unsigned char v5,unsigned char v6)
{
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  traj_sel2( v4, v5, v6,0x00,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT2;//CS=1
   DELAY();
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  traj_sel2(0x00,0xa0,0xFF,0x00,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT3;//CS=1
}

void run_stright()
{
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  filter_sel();
  DELAY();
  traj_sel2(0x00,0xb5,0xFF,0x00,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT2;//CS=1
  P5OUT&=~BIT3;//CS=0
  wr_cmd(RSTI);
  DELAY();
  filter_sel();
  DELAY();
  traj_sel2(0x00,0xb5,0xFF,0x00,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT3;//CS=1
}

void run_back()
{
  P5OUT&=~BIT7;
  DELAY();
  P5OUT|=BIT7;
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  filter_sel();
  DELAY();
  traj_sel2(0x00,0x80,0xff,0xc0,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT2;//CS=1
  P5OUT&=~BIT3;//CS=0
  wr_cmd(RSTI);
  DELAY();
  filter_sel();
  DELAY();
  traj_sel2(0x00,0x80,0xff,0xc0,0xff,0xff,0xff);
  DELAY();
  P5OUT|=BIT3;//CS=1
}
void traj_sel2(unsigned char a,unsigned char b,unsigned char c,unsigned char h,unsigned char d,unsigned char e,unsigned f)
{
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(a);
  DELAY();
  check_busy();
  wr_data(b);
  DELAY();
  check_busy();
  wr_data(c);
  DELAY();
  //position
  check_busy();
  wr_data(h);
  DELAY();
  check_busy();
  wr_data(d);
  DELAY();
  check_busy();
  wr_data(e);
  DELAY();
  check_busy();
  wr_data(f);
  DELAY();
  check_busy();
  wr_cmd(STT);
  DELAY();
}
void turn_position_left_two(unsigned char a,unsigned char b,unsigned char c,unsigned char d)
{
  unsigned char ps1,ps2,ps3,ps4, ps5,ps6,ps7,ps8,dec_ps8=0,dec_ps7=0, state_left;
  unsigned int ps9,psa;
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps1=rd_data();
   DELAY();
  check_busy();
  ps2=rd_data();
  DELAY();
  check_busy();
  ps3=rd_data();
   DELAY();
  check_busy();
  ps4=rd_data();
  if((ps4+b)>0xff)
  {ps3++;}
  if((ps3+a)>0xff)
  {ps2++;}


  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();

  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xde);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps2);
  DELAY();
  check_busy();
  wr_data(ps3+a);
  DELAY();
  check_busy();
  wr_data(ps4+b);
  DELAY();
  P5OUT|=BIT3;//CS=1
  
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps5=rd_data();
   DELAY();
  check_busy();
  ps6=rd_data();
   DELAY();
  check_busy();
 ps7=rd_data();
   DELAY();
  check_busy();
 ps8=rd_data();
  if(ps8<d)
  {
    dec_ps8=1;
    ps9=(int)ps8+0xff;
    ps9=ps9-(int)d;
    ps8=(unsigned char)ps9;
    ps7-=0x01;
  }
  if(ps7<c)
  {
    dec_ps7=1;
    psa=(int)ps7+0xff;
    psa=psa-(int)c;
    ps7=(unsigned char)psa;
    ps6-=0x01;
  }
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xde);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps6);
  DELAY();
  if(dec_ps7==1)
  {
    dec_ps7=0;
    check_busy();
    wr_data(ps7);
  }
  else
  {
    check_busy();
    wr_data(ps7-c);
  }
  DELAY();
  if(dec_ps8==1)
  {
    dec_ps8=0;
    check_busy();
    wr_data(ps8);
  }
  else
  {
    check_busy();
    wr_data(ps8-d);
  }
    DELAY();
  P5OUT|=BIT2;//CS=1
   DELAY();
   
  P5OUT&=~BIT2;//CS=0
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(STT);
  DELAY();
  check_busy();
  P5OUT|=BIT2;
  
  P5OUT|=BIT3;
  P5OUT&=~BIT3;
  do
  {state_left= rd_st();}
  while((state_left&0x04)==0);
  P5OUT|=BIT3;
  access_sign_left_two++;
  sign_clockwise=1;

}
void turn_position_right_two(unsigned char e,unsigned char f,unsigned char g,unsigned char h)
{
 unsigned char ps1,ps2,ps3,ps4, ps5,ps6,ps7,ps8,dec_ps3,dec_ps4,state_right;
 unsigned int ps9,psa;
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps5=rd_data();
   DELAY();
  check_busy();
  ps6=rd_data();
   DELAY();
  check_busy();
 ps7=rd_data();
   DELAY();
  check_busy();
 ps8=rd_data();
  if((ps8+f)>0xff)
  {ps7++;}
  if((ps7+e)>0xff)
  {ps6++;}
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();

  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xde);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps6);
  DELAY();
  check_busy();
  wr_data(ps7+e);
  DELAY();
  check_busy();
  wr_data(ps8+f);
  DELAY();
  P5OUT|=BIT2;//CS=1
  
  
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps1=rd_data();
   DELAY();
  check_busy();
  ps2=rd_data();
   DELAY();
  check_busy();
 ps3=rd_data();
   DELAY();
  check_busy();
 ps4=rd_data();
  if(ps4<h)
  {
    dec_ps4=1;
    ps9=(int)ps4+0xff;
    ps9=ps9-(int)h;
    ps4=(unsigned char)ps9;
    ps3-=0x01;
  }
  if(ps3<g)
  {
    dec_ps3=1;
    psa=(int)ps3+0xff;
    psa=psa-(int)g;
    ps3=(unsigned char)psa;
    ps2-=0x01;
  }
  check_busy();
  wr_cmd(RSTI);
  DELAY();
123

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