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Motor 的代码
motor.sdb
[p AUTOSTATIC PIC14 PICMIDHI PICLOMID LITE_MODE ]
[d version 1.1 ]
[d edition pro ]
[d chip 16F877A ]
"53 F:\program\PIC-program\motor\motor1\motor.c
[v F535 `(v 1 t 0 ]
"4
[v _init `(v 1 e 0
motor.c
#include
#include "Motor.h"
// 整步状态表A
static const unsigned char fullStepA[] =
{
0x00,
0x00,
0x01,
0x01
};
// 半步状态表B
static const unsigned char fullStepB[
motor.h
// DCO 频率
#define DCO_FREQ 1000000
// 看门狗在1秒钟内的中断数
#define ONE_SEC_CNT 512
// (1/512)*5 = ~10
#define DEBOUNCE_CNT 0x05
// 0x01：顺时针方向, 0x00：反时针方向
#defin
motor.err
Error[128] D:\Shared\Hung\Controller\Robot\motor.c 17 : A #DEVICE required before this line
motor.c
#define GEAR_RATIO 1
#define GEARBOX_RATIO 120
#define WHEEL_RADIUS 25
#define Kp 0.28 // 2.75 // 11.55.8.5
#define Ki 0.15
#define DIR PIN_A5 // motor direction
#
motor.bak
#define GEAR_RATIO 1
#define GEARBOX_RATIO 120
#define WHEEL_RADIUS 25
#define Kp 0.28 // 2.75 // 11.55.8.5
#define Ki 0.1
#define DIR PIN_A5 // motor direction
#d
motor.h
/******************************************************************************/
/* motor.h */
/*
motor.c
#include "hardware.h"
#include "motor.h"
void init_MotorPort()
{
//Dead Zone=0, PreScalero1=2;
TCFG0|=(0