只能避障小车程序
void Initial_PLL(void) /*锁相环初始化设定锁相环周期和总线周期 总线16MHZ*/ {CLKSEL=0X00; PLLCTL_PLLON=1; SYNR=0x00 | 0x01; REFDV=0x80 | 0x01; POSTDIV=0x00; _asm(nop); /*从设定到稳定需要一定的时间*/ _asm(nop); while(!(CRGFLG_LOCK==1)); /*等待时钟频率已稳定锁相环频率已锁定*/ CLKSEL_PLLSEL =1; } void PWMInit(void) {PWMPOL=0X20; PWMCLK=0X20; PWMPRCLK=0X07; PWMCAE=0X00; PWMCTL=0X00; PWMSCLA=0X05; PWMPER5=0X64; PWMDTY5=100; } void PWM_01(void) {PWMCTL_CON01=1; PWMCAE_CAE1=0; PWMCNT01 = 0; PWMPOL_PPOL1=1; PWMPRCLK = 0X40; PWMSCLA = 0x08; PWMCLK_PCLK1 = 1; PWMPER01 = 20000; PWMDTY01 = 2010; } void PWM_01(void) {PWMCTL_CON01=1; PWMCAE_CAE1=0; PWMCNT01 = 0; PWMPOL_PPOL1=1; PWMPRCLK = 0X40; PWMSCLA = 0x08; PWMCLK_PCLK1 = 1; PWMPER01 = 20000; PWMDTY01 = 2010;
只能避障小车程序
{ switch(sensortemp) { case 0x0000 :PWMDTY01=850; /*左转*/ break; case 0x0001 :PWMDTY01=1850; /*右转*/ break; case 0x0002 :PWMDTY01=1850; /*右转*/ break; case 0x0003 :PWMDTY01=1850; /*右转*/ break; case 0x0004 :PWMDTY01=850; /*左转*/ break; case 0x0005 :PWMDTY01=850; /*左转*/ break; case 0x0006 :PWMDTY01=850; /*左转*/ break; case 0x0007 :PWMDTY01=1355; /*前进*/ break; } if(sensortemp==0x0007) PWMDTY5=48; else PWMDTY5=70; sensortemp=0; for(i=0;i<=35;i++) { for(j=0;j<=35;j++) { for(k=0;k<=20;k++); } }
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