/*********************************************
//小車的驅(qū)動函數(shù)
//1:前進?2:后退?3:左轉(zhuǎn)?4:右轉(zhuǎn)?5:停止	
//L?R表示左右輪子的轉(zhuǎn)速，共有1個檔位
***************************************************/
#include?“PWM.H“
#include?“STC15F2K.h“
#include?“drive.h“

sbit?EAD=P0^0;	
sbit?EBD=P0^1;
sbit?PA1=P0^2;??//左邊??	PA1=0?PA2=1??前
sbit?PA2=P0^3;??
sbit?PB1=P0^4;??//右邊???PB1=0?PB2=1??前
sbit?PB2=P0^5;
typedef?unsigned?char?uchar;
typedef?unsigned?int??uint;
/*********************************************
?L_wheel1左邊前進，L_wheel2左邊后退L_wheel3左邊停止
***************************************************/
#define?L_wheel1???{P0|=0X09;P0&=0X03B?;}?//前進
#define?L_wheel2???{P0|=05;P0&=0X37;}??//后退
#define?L_wheel3???{P0|=0X00;P0&=0X32;}	//停止
#define?R_wheel1???{P0|=0X22;P0&=0X2F;}	?//前進
#define?R_wheel2???{P0|=0x12;P0&=0X1F;}?//后退				?
#define?R_wheel3???{P0|=0X00;P0&=0X0D;}?	//停止


?extern?uint?Count0;
?
?
void?drive（unsigned?char?dir）
{
	static?unsigned?char?f;
	if（f!=dir）
	{
		
		switch（dir）
		{
			case?1:L_wheel1;R_wheel1;
				break;
			case?2:L_wheel2;R_wheel2;
				break;
			case?3:L_wheel2;R_wheel1;
				break;
			case?4:L_wheel1;R_wheel2;
				break;
			case?5:L_wheel3;R_wheel3;
		}
		f=dir;
	}
?
		
}?
?
?
?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-08-14?22:10??避障小車STC程序\
?????目錄???????????0??2017-08-14?22:20??避障小車STC程序\mycar避障\
?????文件????????1289??2012-11-03?15:14??避障小車STC程序\mycar避障\drive.c
?????文件??????????92??2012-11-03?15:14??避障小車STC程序\mycar避障\drive.h
?????文件????????3318??2012-11-03?15:23??避障小車STC程序\mycar避障\drive.LST
?????文件????????2464??2012-11-03?15:23??避障小車STC程序\mycar避障\drive.OBJ
?????文件?????????877??2012-11-03?15:23??避障小車STC程序\mycar避障\main.c
?????文件????????2592??2012-11-03?15:23??避障小車STC程序\mycar避障\main.LST
?????文件????????2438??2012-11-03?15:23??避障小車STC程序\mycar避障\main.OBJ
?????文件????????8534??2012-11-03?15:23??避障小車STC程序\mycar避障\mycar
?????文件???????????0??2017-08-14?22:19??避障小車STC程序\mycar避障\mycar.build_log.htm
?????文件????????1233??2012-11-03?15:23??避障小車STC程序\mycar避障\mycar.hex
?????文件??????????99??2012-11-03?15:23??避障小車STC程序\mycar避障\mycar.lnp
?????文件???????10624??2012-11-03?15:23??避障小車STC程序\mycar避障\mycar.M51
?????文件????????1390??2012-11-03?15:23??避障小車STC程序\mycar避障\mycar.plg
?????文件???????72299??2017-08-14?22:20??避障小車STC程序\mycar避障\mycar.uvgui.Administrator
?????文件???????69020??2012-11-03?15:14??避障小車STC程序\mycar避障\mycar.uvgui.ywd
?????文件???????71325??2012-11-03?15:21??避障小車STC程序\mycar避障\mycar.uvgui.zdd
?????文件???????69023??2012-11-03?15:14??避障小車STC程序\mycar避障\mycar.uvgui_ywd.bak
?????文件????????6457??2017-08-14?22:11??避障小車STC程序\mycar避障\mycar.uvopt
?????文件???????14436??2017-08-14?22:11??避障小車STC程序\mycar避障\mycar.uvproj
?????文件????????8653??2012-11-03?15:21??避障小車STC程序\mycar避障\mycar_uvopt.bak
?????文件???????13903??2012-11-03?15:21??避障小車STC程序\mycar避障\mycar_uvproj.bak
?????文件?????????344??2012-11-03?15:14??避障小車STC程序\mycar避障\obavoid.c
?????文件?????????108??2012-11-03?15:14??避障小車STC程序\mycar避障\OBAVOID.H
?????文件????????1371??2012-11-03?15:23??避障小車STC程序\mycar避障\obavoid.LST
?????文件????????1083??2012-11-03?15:23??避障小車STC程序\mycar避障\obavoid.OBJ
?????文件?????????972??2012-11-03?15:22??避障小車STC程序\mycar避障\PWM.c
?????文件??????????86??2012-11-03?15:23??避障小車STC程序\mycar避障\PWM.H
?????文件????????2741??2012-11-03?15:23??避障小車STC程序\mycar避障\PWM.LST
?????文件????????2711??2012-11-03?15:23??避障小車STC程序\mycar避障\PWM.OBJ
............此處省略4個文件信息