text.c

飞思卡尔智能车例程

#include <hidef.h>      /* common defines and macros */
#include <mc9s12dg128.h>     /* derivative information */
#include "funtion.h"
#include "lib.c"

void text (void)   //传感器测试
{
  uchar kv;
  uint t2;
  uchar tg=0;        //是否前进
  int  tu=0;     //转角测试
  uchar tub=0;       //位选择
  
  w_lcd(com,0x32);      //切换到基本指令集
  w_lcd(com,0x01);      //CLR
  set(0);               //不显示光标
  clr_pr();
  
  go(5,2);
  wc("\xA1\xC0");    //+-号
  wc("  1 ");
  go(6,3);
  wn(0,0);    //写入舵机控制角
  wn(0,0);
  dir(tu);
  
  while(kv!=7) 
   {
    kv=key();
    
    ATD0CTL5=0x87 ;       //测量电压
    while(ATD0STAT0==0)  //waiting for finish
      ;
    t2=ATD0DR0*39;     //读取AD值
    go(5,0);
    wn(t2/1000,'.');
    wn((t2%1000)/100,(t2%100)/10);
    wn(t2%10,'V');      //向液晶写入电压
    
    go(5,1);
    if(PTIT&0x40)   //转速转感器
      wc("\x09");
    else
      wc("\x0A");
    wc("\x20");
    
    t2=n;    //写入转速计数值
    go(6,1);
    wn(t2/1000,(t2%1000)/100);
    wn((t2%100)/10,t2%10);
    
    if(kv==1)     //计数值清零
       n=0;
    
    else if(kv==2)    //前进, 停止
      { if(tg) 
         { tg=0;speed(0);}		//停止
        else 
         { tg=1;speed(800); } //前进
      } 
    else if(kv==0x0f||kv==0x0B) 
      {tg=1;speed(400);}
    else if(kv==0x0c||kv==0x09) 
      {tg=0;speed(0);}
      
      
    //舵机测试控制
    else if(kv==3)      //左移 
      {
       tub++;
       if(tub>3)
         tub=0;
       go(6,2);
       if(tub==0)       wc("  1 ");
       else if(tub==1)  wc("  5 ");
       else if(tub==2)  wc(" 25 ");
       else if(tub==3)  wc("100 ");
      } 
    
    else if(kv==5)    //加
      {
       if(tub==0&&tu<1000)
         tu++;
       else if(tub==1&&tu<996)
         tu+=5;
       else if(tub==2&&tu<976)
         tu+=25;
       else if(tub==3&&tu<901)
         tu+=100;      
       go(5,3);
       if(tu<0)  wc(" -");
       else      wc(" +");
       t2=abs(tu);
       wn(t2/1000,(t2%1000)/100);
       wn((t2%100)/10,t2%10);
       dir(tu);
      } 
    
    else if(kv==6)    //减
      {
       if(tub==0&&tu>-1000)
         tu--;
       else if(tub==1&&tu>-996)
         tu-=5;
       else if(tub==2&&tu>-976)
         tu-=25;
       else if(tub==3&&tu>-901)
         tu-=100;
       go(5,3);
       if(tu<0)  wc(" -");
       else      wc(" +");
       t2=abs(tu);
       wn(t2/1000,(t2%1000)/100);
       wn((t2%100)/10,t2%10);
       dir(tu);
      }             //*/
    
   }
   
}