机器人大赛程序设计
#include<BoeBot.h>
#include<uart.h>
#include<intrins.h>
#define LeftIR P1_2 //左边红外接收连接到 P1_2
#define RightIR P3_5 //右边红外接收连接到 P3_5
#define LeftLaunch P1_3 //左边红外发射连接到 P1_3
#define RightLaunch P3_6 //右边红外发射连接到 P3_6
#define Kpl 70
#define Kpr -70
#define SetPoint 3
#define CenterPulse 1500
unsigned int time;
int leftdistance,rightdistance;//左边和右边的距离
int delayCount,distanceLeft,distanceRight,irDetectLeft,irDetectRight;
unsigned int frequency[5]={29370,31230,33050,35700,38460};
int P1_4state(void)//获取 P1_4 的状态,右胡须
{
return (P1&0x10)?1:0;
}
int P2_3state(void)//获取 P2_3 的状态,左胡须
{
return (P2&0x08)?1:0;
}
void timer_init(void)
{
IE=0x82; //开总中断 EA，允许定时器 0 中断 ET0
TMOD |= 0X01; //定时器 0 工作在模式 1：16 位定时器模式
}
void FreqOut(unsigned int Freq)
{
time = 256 - (50000/Freq);
TH0 = 0XFF ;
TL0 = time ;
TR0 = 1;
delay_nus(800);
TR0 = 0;
}
void Timer0_Interrupt(void) interrupt 1
{
LeftLaunch = ~LeftLaunch;
RightLaunch= ~ RightLaunch;
TH0 = 0XFF;
TL0 = time;
}
资源评论
