电磁智能车程序第五届.docx

1、电磁智能车程序第五届电磁智能车程序第五届#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */-初始化函数-/#define uint unsigned int;#define PITTIME 1000/设定为5ms定时/#define PITTIME 6000000/30msint count=0;int dif;int angle_date;int ch0,ch1,ch0_mid,ch1_mid,tidu;int speed_bend,speed_

2、mid;/long int f;unsigned int i=0;void delay(int ms) int ii,jj; if (ms1) ms=1; for(ii=0;iims;ii+) for(jj=0;jj=ch1&ch1=ch1_mid) PWMDTY01=1550; / PWMDTY23=382; PWMDTY23=500; else if(ch0ch1&ch1=10) /* if(PWMDTY23=382) PWMDTY23=1000; PWMDTY45=382; delay(6); PWMDTY45=1000; */ dty01=1550-(ch1_mid-ch1)*6; d

3、ty23=808; if(dty01700) / dty23=700; PWMDTY23=dty23; if(ch0=ch0_mid) PWMDTY01=1550; /PWMDTY23=382; PWMDTY23=500 ; else if(ch0=10) /*if(PWMDTY23=382) PWMDTY23=1000; PWMDTY45=382; delay(6); PWMDTY45=1000; */ dty01=1550+(ch0_mid-ch0)*6; dty23=808; if(dty01=1700) dty01=1700; dty23=381; PWMDTY01=dty01; /d

4、ty23=500+(-dif)/10*20; /if(dty23800) / dty23=800; PWMDTY23=dty23; /*01状态弯道*/* void angle01() if(ch0=ch1) if(ch1=(ch1_mid-tidu) PWMDTY01=angle_table5; PWMDTY23=speed_bend; / PORTB=0x0f; else if(ch1=(ch1_mid-(2*tidu) PWMDTY01=angle_table4; else if(ch1=(ch1_mid-(3*tidu) PWMDTY01=angle_table3; else if(c

5、h1=(ch1_mid-(4*tidu) PWMDTY01=angle_table2; else if(ch1=(ch1_mid-(5*tidu) PWMDTY01=angle_table1; else if(ch1=(ch1_mid-(6*tidu) PWMDTY01=angle_table0; else if(ch1=ch1_mid) PWMDTY01=angle_table16; else if(ch0=(ch0_mid-tidu) PWMDTY01=angle_table7; PWMDTY23=speed_bend; /PORTB=0xf0; else if(ch0=(ch0_mid-

6、(2*tidu) PWMDTY01=angle_table8; else if(ch0=(ch0_mid-(3*tidu) PWMDTY01=angle_table9; else if(ch0=(ch0_mid-(4*tidu) PWMDTY01=angle_table10; else if(ch0=(ch0_mid-(5*tidu) PWMDTY01=angle_table11; else if(ch0=(ch0_mid-(6*tidu) PWMDTY01=angle_table12; else if(ch0=ch0_mid) PWMDTY01=angle_table6; PWMDTY23=

7、speed_mid; */ void angle01() int dty01,dty23; if(ch0=ch1&ch1=ch1_mid) PWMDTY01=1550; / PWMDTY23=382; PWMDTY23=150; else if(ch0ch1&ch1=10) /* if(PWMDTY23=382) PWMDTY23=1000; PWMDTY45=382; delay(6); PWMDTY45=1000; */ dty01=1550-(ch1_mid-ch1)*6; dty23=618; if(dty01700) / dty23=700; PWMDTY23=dty23; if(c

8、h0=ch0_mid) PWMDTY01=1550; /PWMDTY23=382; PWMDTY23=150 ; else if(ch0=10) /*if(PWMDTY23=382) PWMDTY23=1000; PWMDTY45=382; delay(6); PWMDTY45=1000; */ dty01=1550+(ch0_mid-ch0)*6; if(dty01=1700) dty01=1700; dty23=381; PWMDTY01=dty01; /dty23=500+(-dif)/10*20; /if(dty23800) / dty23=800; PWMDTY23=dty23; /

9、*10状态弯道*/ void angle10() if(ch0=ch1) if(ch1=(ch1_mid-tidu) PWMDTY01=angle_table5; PWMDTY23=speed_bend; / PORTB=0x0f; else if(ch1=(ch1_mid-(2*tidu) PWMDTY01=angle_table4; else if(ch1=(ch1_mid-(3*tidu) PWMDTY01=angle_table3; else if(ch1=(ch1_mid-(4*tidu) PWMDTY01=angle_table2; else if(ch1=(ch1_mid-(5*

10、tidu) PWMDTY01=angle_table1; else if(ch1=(ch1_mid-(6*tidu) PWMDTY01=angle_table0; else if (ch1=ch1_mid) PWMDTY01=angle_table16; PWMDTY23=speed_mid; / PORTB = 0xe7; else if(ch0=(ch0_mid-tidu) PWMDTY01=angle_table7; PWMDTY23=speed_bend; /PORTB=0xf0; else if(ch0=(ch0_mid-(2*tidu) PWMDTY01=angle_table8;

11、 else if(ch0=(ch0_mid-(3*tidu) PWMDTY01=angle_table9; else if(ch0=(ch0_mid-(4*tidu) PWMDTY01=angle_table10; else if(ch0=(ch0_mid-(5*tidu) PWMDTY01=angle_table11; else if(ch0=(ch0_mid-(6*tidu) PWMDTY01=angle_table12; else if(ch0=ch0_mid) PWMDTY01=angle_table16; PWMDTY23=speed_mid; / PORTB = 0xe7; /*1

12、1状态弯道*/ void angle11() if(ch0=ch1) /i=0; if(ch1=(ch1_mid-tidu) PWMDTY01=angle_table5; PWMDTY23=speed_bend-150; / PORTB=0x0f; else if(ch1=(ch1_mid-(2*tidu) PWMDTY01=angle_table4; PWMDTY23=speed_bend-150; else if(ch1=(ch1_mid-(3*tidu) PWMDTY01=angle_table3; PWMDTY23=speed_bend-100; else if(ch1=(ch1_mi

13、d-(4*tidu) PWMDTY01=angle_table2; PWMDTY23=speed_bend-50; else if(ch1=(ch1_mid-(5*tidu) PWMDTY01=angle_table1; PWMDTY23=speed_bend-50; else if(ch1=(ch1_mid-(6*tidu) PWMDTY01=angle_table0; PWMDTY23=speed_mid-50; else if(ch1=ch1_mid) PWMDTY01=angle_table6; PWMDTY23=speed_mid; / PORTB = 0xe7; else /i=0; if(ch0=(ch0_mid-tidu) PWMDTY01=angle_table7; PWMDTY23=speed_bend-150; else if(ch0=(ch0_mid-(2*tidu) PWMDTY01=angle_table8; PWMDTY23=speed_bend-100; else if(ch0=(ch0_mid-(3*tidu) PWMDTY01=angle_table9; PWMDTY23=speed_bend