2.2.2 舵机的安装.......................................................................................14
2.2.3 传感器支架设计...............................................................................14
2.2.4 核心电路的设计...............................................................................16
2.2.5 电机驱动...........................................................................................17
2.2.6 编码器安装.......................................................................................17
第三章 软件设计.....................................................................................................18
3.1 初始化.........................................................................................................18
3.1.1 GPIO 初始化.....................................................................................18
3.1.2 AD 模块初始化.................................................................................19
3.1.3 ECT 模块初始化...............................................................................19
void PAInit(void)........................................................................................21
{..................................................................................................................21
PACTL_PAEN=0;.....................................................................................21
TSCR1=0X80; //快速清除 flag：PAOVF PAIF.......................................21
TSCR2=0X03;...........................................................................................21
PACNT=0;.................................................................................................21
PACTL_PAEN=1; //启动脉冲累加器 A..................................................21
PACTL_PAMOD=0; //事件计数方式......................................................21
PACTL_PEDGE=1; //PT7 引脚上的出现上升沿时脉冲累加器计数器加
1.....................................................................................................................21
TSCR1_TEN =1;.......................................................................................21
}..................................................................................................................21
void ECT_Init(void) /*ECT 初始化，使用输入捕捉功能*/....................21
{..................................................................................................................21
TIOS =0x00; //设为输入捕捉...................................................................21
TSCR1=0x80; //定时器使能.....................................................................21
TSCR2=0x07;............................................................................................22
TIE=0b00000010; //开中断......................................................................22
TCTL4=0b00001000; //0 ,1 触发电平:.....................................................22
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