#include?“io430.h“


#define???P1_0????0x01??????//??左電機控制??IN1
#define???P1_1????0x02??????//??左電機控制??IN2
#define???P1_2????0x04??????//??左電機控制??PWM1

#define???P1_3????0x08??????//??右電機控制??PWM2
#define???P1_4????0x10??????//??右電機控制??IN3
#define???P1_5????0x20??????//??右電機控制??IN4

#define???PWM_TIMES?????????200????????????//PWM周期為20ms


/*
*PWM設置函數?
*?motor:設置的電機號??0左電機，1右電機；??percent:?PWM占空比；?times:PWM周期?0.1ms為單位;
*/
void?Pwm_Set（unsigned?char?motor?unsigned?int??percentunsigned?int?times）
{
??unsigned?int?per;
??unsigned?long?count=0;
??if（percent==0）
????TACTL=0x00;
??if（percent<100）
??percent=100-percent;
??else
???percent=percent-100;
??count=80*times;???????????????????????//計時脈沖個數=80*times;
??per=count*percent/100;???????????????//正脈沖計時個數???????
??P1DIR?|=?0x0C;????????????????????????//?IO1.2?and?IO1.3?output
??P1SEL?|=?0x0C;????????????????????????//?IO1.2?and?IO1.3?TA1/2?otions
??CCR0?=?count;?????????????????????????//?PWM?Period
??if（motor==0）??????
??{
????CCTL1?=?OUTMOD_7;?????????????????????//?CCR1?reset/set
????CCR1?=?per;???????????????????????????//?CCR1?PWM?duty?cycle
??}
??else?if（motor==1）
??{
?????CCTL2?=?OUTMOD_7;?????????????????????//?CCR2?reset/set
?????CCR2?=?per;???????????????????????????//?CCR2?PWM?duty?cycle

??}
??TACTL?=?TASSEL_2?+?MC_1;??????????????//?SMCLK?up?mode
??
?//?_BIS_SR（LPM0_bits）;???????????????????//?Enter?LPM0
}




/*??功能：電機執行動作
*???參數：?
*?????????motor_num：?電機的號碼，1?右電機?；?0?左電機
*?????????event:??????電機的動作，?0停止，1前進，2后退，3剎車??
*?????????speed:???????電機的速度，既PWM占空比
*/
void??Motor（unsigned?char?motor_numunsigned?char?eventunsigned?char?speed）
{
??if（motor_num==0）????
??{
????switch（event）
????{
????case??0:??P1OUT&=~（P1_0+P1_1）;???????//停止
??????break;
????case??1:??P1OUT|=P1_0;P1OUT&=~P1_1;?//前進
??????break;
????case??2:??P1OUT|=P1_1;P1OUT&=~P1_0;?//后退
??????break;
????case??3:??P1OUT|=（P1_0+P1_1）;????????//剎車
??????break;
????default:
??????break;
????}
????Pwm_Set（0speedPWM_TIMES）;
????
??}
???else?if（motor_num==1）
??{
????switch（event）
????{
????case??0:??P1OUT&=~（P1_4+P1_5）;???????//停止
??????break;
????case??1:??P1OUT|=P1_5;P1OUT&=~P1_4;?//前進
??????break;
????case??2:??P1OUT|=P1_4;P1OUT&=~P1_5;?//后退
??????break;
????case??3:??P1OUT|=（P1_4+P1_5）;????????//剎車
??????break;
????default:
??????break;
????}
????Pwm_Set（1speedPWM_TIMES）;
????
??}
}

void?delay（void）
{
??unsigned?int?count=0;
??while（count<50000）
????count++;
????
}
void??delay_long（void）
{
??int?i=0;
??while（i++<10）
????delay（）;
}

int?main（?void?）
{
??WDTCTL=WDTPW??+?WDTHOLD;
??
??P2DIR=0xff;
??P2SEL=0x00;
??P2OUT=0xff;
??
??P1DIR=0xff;
??P1SEL=0x00;
??P1OUT=0x00;
??Motor（0150）;????//
??Motor（1150）;????//小車前進
??delay_long（）;
??
??Motor（000）;
??Motor（1150）;????//小車左拐彎
??delay_long（）;
??
??Motor（0150）;
??Motor（100）;????//小車右拐彎
??delay_long（）;
??
??
??Motor（01100）;
??Motor（1110

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????20002??2009-05-26?18:02??小車動作控制\Debug\Exe\PWM2.d43

?????文件??????18111??2009-05-26?18:02??小車動作控制\Debug\Obj\main.r43

?????文件????????113??2009-05-26?18:02??小車動作控制\Debug\Obj\PWM2.pbd

?????文件???????3439??2009-05-26?18:02??小車動作控制\main.c

?????文件???????2007??2009-05-26?18:08??小車動作控制\PWM2.dep

?????文件??????13743??2009-05-26?17:37??小車動作控制\PWM2.ewd

?????文件??????44774??2008-10-29?08:20??小車動作控制\PWM2.ewp

?????文件????????158??2009-05-26?16:39??小車動作控制\PWM2.eww

?????文件???????2679??2009-05-26?18:07??小車動作控制\settings\PWM2.cspy.bat

?????文件???????4649??2009-05-26?18:08??小車動作控制\settings\PWM2.dbgdt

?????文件???????1028??2009-05-26?18:08??小車動作控制\settings\PWM2.dni

?????文件???????4003??2009-05-26?18:08??小車動作控制\settings\PWM2.wsdt

?????目錄??????????0??2009-05-26?17:40??小車動作控制\Debug\Exe

?????目錄??????????0??2009-05-26?17:40??小車動作控制\Debug\List

?????目錄??????????0??2009-05-26?18:02??小車動作控制\Debug\Obj

?????目錄??????????0??2009-05-26?17:40??小車動作控制\Debug

?????目錄??????????0??2009-05-26?17:40??小車動作控制\settings

?????目錄??????????0??2009-05-26?18:02??小車動作控制

-----------?---------??----------?-----??----

???????????????114706????????????????????18