public.h

走迷宫的智能小车

#include "msp430x14x.h"

extern unsigned  int 	PWMbuff[8];	//舵机控制寄存器
extern unsigned  int 	PWMangle[8];	//计算出的最终到达角度计数器数据=(角度*1111)/25	
extern unsigned  int 	PWMvalue[8];	//每周期改变的计数器数值



//////////////////////控制板端口定义////////////////////////////////////////
///////////////////////舵机控制端口/////////////////////////////////////////
#define	PWM1_L			P4OUT |= BIT0		 //1路舵机控制 PWM1
#define	PWM1_H			P4OUT &= ~BIT0
#define	PWM2_L			P4OUT |= BIT1		 //2路舵机控制 PWM2
#define	PWM2_H			P4OUT &= ~BIT1	
#define	PWM3_L			P4OUT |= BIT2		 //3路舵机控制 PWM3
#define	PWM3_H			P4OUT &= ~BIT2	
#define	PWM4_L			P4OUT |= BIT3		 //4路舵机控制 PWM4
#define	PWM4_H			P4OUT &= ~BIT3	
#define	PWM5_L			P4OUT |= BIT4		 //5路舵机控制 PWM5
#define	PWM5_H			P4OUT &= ~BIT4	
#define	PWM6_L			P4OUT |= BIT5		 //6路舵机控制 PWM6
#define	PWM6_H			P4OUT &= ~BIT5	
#define	PWM7_L			P4OUT |= BIT6		 //7路舵机控制 PWM7
#define	PWM7_H			P4OUT &= ~BIT6	
#define	PWM8_L			P4OUT |= BIT7		 //8路舵机控制 PWM8
#define	PWM8_H			P4OUT &= ~BIT7	

////////////////外部扩展IOP1口////////////////////////////////////////////////
#define	SET_IO_IN		P1DIR &= ~0X0ff; 
#define SET_IO_OUT		P1DIR |= 0X0ff; 	
#define EXT_IO_IN		P1IN 	//8路数字输入口 
#define	EXT_IO_OUT		P1OUT	//8路数字输出口 
////////////////减速电机端口//////////////////////////////////////////////
#define	M1_R			P2OUT |= BIT7,P2OUT |= BIT3		        //电机1正转
#define	M1_L			P2OUT &= ~BIT7,P2OUT |= BIT3			//电机1反转
#define	M1_T			P2OUT &= ~BIT3					//电机1停转

#define	M2_R			P2OUT |= BIT6,P2OUT |= BIT2		        //电机2正转
#define	M2_L			P2OUT &= ~BIT6,P2OUT |= BIT2			//电机2反转
#define	M2_T			P2OUT &= ~BIT2					//电机2停转

#define	M3_R			P2OUT |= BIT5,P2OUT |= BIT1			//电机3正转
#define	M3_L			P2OUT &= ~BIT5,P2OUT |= BIT1		        //电机3反转
#define	M3_T			P2OUT &= ~BIT1					//电机3停转

#define	M4_R			P2OUT |= BIT4,P2OUT |= BIT0			//电机4正转
#define	M4_L			P2OUT &= ~BIT4,P2OUT |= BIT0		        //电机4反转
#define	M4_T			P2OUT &= ~BIT0					//电机4停转