blank.c

本文件用于智能云台电机控制和图像处理

/*
volatile unsigned char hOrientFlag;
 volatile unsigned char hStopFlag;
 volatile unsigned int hLocalRad;
 volatile unsigned char vOrientFlag;
 volatile unsigned char vStopFlag;
 volatile unsigned int vLocalRad;
 volatile unsigned int	 vConst;
 volatile unsigned char	hRotationManner;
 volatile unsigned char	vRotationManner	;
 void GeneralHRotation(char v)
 {
 hRotationManner=GENERALROTATION;
 hOrientFlag=(v>=0)?1:-1;
 v=(v>=0)?-v:v;
 v=10*v; //作速度变换
 RCAP2L=(unsigned char)v;
 RCAP2H=(unsigned char)(v>>8);
 }
 void GeneralVRotation(char v)
 {
 vRotationManner=GENERALROTATION;
 vOrientFlag=(v>=0)?1:-1;
 v=(v>=0)?v:-v;
vConst=	10*v ;	 //因T0时间基数太小要在中断里作一个软计时处理
 }
  void PresetHRotation(char dot)
  {		   //返绝对坐标
 hRotationManner=PRESETROTATION;
 RCAP2L=(unsigned char)100;		//以最快速度运行
 RCAP2H=(unsigned char)(100>>8);
 }
 void PresetVRotation(char dot)
 {					 //返绝对坐标
 vRotationManner=PRESETROTATION;
 vConst=	10*10 ;	 //因T0时间基数太小要在中断里作一个软计时处理
 }
 void RoutinHRotation(char v)
 {
 hRotationManner=ROUTINROTATION;
 
 RCAP2L=(unsigned char)v;
 RCAP2H=(unsigned char)(v>>8);
 }
 void RoutinVRotation(char v)
 {
 vRotationManner=ROUTINROTATION;
 
  vConst=	10*10 ;
 }
 */