c_softpwm.h

08山东电子电子竞赛智能小车程序基于PIC+红外+电子罗盘ourdev551262 包含源码

//左右轮占空比计数
unsigned char Left_SoftPwmCount;
unsigned char Right_SoftPwmCount;
unsigned char Car_run_Drection_L;
unsigned char Car_run_Drection_R;


//左右轮占空比设置
unsigned char Left_Pwm;
unsigned char Right_Pwm;

//1mS微时间临时
unsigned char TimeUsTmp;

/*
小车运行方向 1 前 2后
#define Car_Stop	0
#define Car_Goahead	1
#define Car_GoBack 	2
*/


//小车控制初始化
void init_CarCtrl()
{
LightUpdates=1;
SETUP_TIMER_2(T2_DIV_BY_1,100,1);
}

#INT_TIMER2
void Soft_isr(void)
{
	if (Left_SoftPwmCount==100)
	{	
		Left_SoftPwmCount=0;
	}
	if (Right_SoftPwmCount==100)
	{	
		Right_SoftPwmCount=0;
	}
	

		
//右轮控制
if(Right_SoftPwmCount==0)
{
//前进
	if (Car_run_Drection_R==Car_Goahead)
	{
		CC_Goahead_R();	
	}
	if (Car_run_Drection_R==Car_GoBack)
	{
		CC_GoBack_R();
	}
		
}

if(Right_SoftPwmCount==Right_Pwm)
{
	CC_Stop_R();
}	


		
//左轮控制
if(Left_SoftPwmCount==0)
{
		CC_Stop_L();
}
	
if(Left_SoftPwmCount==Left_Pwm)
{
		
		if (Car_run_Drection_L==Car_Goahead)
		{
			//前进
			CC_Goahead_L();
		}
		if (Car_run_Drection_L==Car_GoBack)
		{
			CC_GoBack_L();
		}
}

	Left_SoftPwmCount++;
	Right_SoftPwmCount++;	
	
	//1ms定时器
	TimeUsTmp++;
	if(TimeUsTmp==10)
	{
		TimeUsTmp=0;
		TimeUs++;	
	};

}

//PWM有效比设置
void PWM_SetDuty(unsigned int16 Left_Pwm_Tmp,unsigned int16 Right_Pwm_Tmp)
{
	
	//成比例 
	Left_Pwm_Tmp=(unsigned char)((StandedV*Left_Pwm_Tmp)/NowV);
	Right_Pwm=(unsigned char)((StandedV*Right_Pwm_Tmp)/NowV);
	//错开电流峰值
	Left_Pwm=100-Left_Pwm_Tmp;
	
	//防止超出范围
	if (Left_Pwm>100)
	{
		Left_Pwm=100;
	}
	if (Right_Pwm>100)
	{
		Right_Pwm=100;
	}
		
}
//PWM启动
void PWM_Start()
{
enable_interrupts(INT_TIMER2);	
}

//PWM停止
void PWM_Stop()
{		
disable_interrupts(INT_TIMER2);
CC_CarStop();
}
void PWM_SetDRC(unsigned char Left_Drection,unsigned char Right_Drection)
{
	Car_run_Drection_L=Left_Drection;
	Car_run_Drection_R=Right_Drection;
}