#include?“msp430x16x.h“
void??Init_PWM_Driver（）?//?初始化電機驅動電路
{
??P4DIR?|=BIT6;???//p4.6為使能端ENA
??P4DIR?|=BIT7;???//p4.7為使能端ENB
??P4OUT?|=BIT6;
??P4OUT?|=BIT7;
??P4DIR?|=BIT5+BIT2+BIT3+BIT4;
??P4SEL?|=BIT5+BIT2+BIT3+BIT4;
??TBCCTL2?|=?OUTMOD_7;//TBCCR2輸出為模式7RESET/SET
??TBCCR2?=0;??//P4.2口輸出TB1__L1????0x196
??
??TBCCTL3?|=?OUTMOD_7;?//TBCCR2輸出為模式7SET/RESET
??TBCCR3?=0;?????????????????//P4.3口輸出TB2__L2
??
??TBCCTL4?|=?OUTMOD_7;?????//TBCCR4輸出為模式7RESET/SET?7*0x20=E0=1110?0000
??TBCCR4?=0;?????????????????//P4.4口輸出TB3__R2
??
??TBCCTL5?|=?OUTMOD_7;?????//TBCCR5輸出為模式7RESET/SET
??TBCCR5?=0;??//P4.5口輸出TB4__R1
??
??TBCTL?|=?MC_1;??//TIMER_B工作于增計數方式
}

/*轉彎部分*/
void?Turn_Left（）?//左轉函數
{
??TBCCR2=0;
??TBCCR3=0;
??TBCCR4=1000;
??TBCCR5=0;
}
void?Turn_Right（）//右轉函數
{
??TBCCR2=1000;
??TBCCR3=0;
??TBCCR4=0;
??TBCCR5=0;

}
void?Turn_Forward（）//直行函數
{
??TBCCR2=1000;
??TBCCR3=0;
??TBCCR4=1000;
??TBCCR5=0;
}

void?Turn_Backward（）//直退函數
{
??TBCCR2=0;
??TBCCR3=1000;
??TBCCR4=0;
??TBCCR5=1000;
}

void?Stop（）//停止函數
{
??TBCCR5=0;
??TBCCR2=0;
??TBCCR3=0;
??TBCCR4=0;
}

void??main（?void?）
{
??//?Stop?watchdog?timer?to?prevent?time?out?reset
??WDTCTL?=?WDTPW?+?WDTHOLD;
????int?i=0;
??Init_PWM_Driver（）;
??for（i?=?0;?i???{
????if（i<=2500）?Turn_Forward（）;
????if（2500????if（5000????if（7500????else?Stop（）;
??}
??
}

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

?????文件???????1967??2010-08-11?16:59??CAR\CAR.dep

?????文件??????17879??2010-08-11?16:56??CAR\CAR.ewd

????.......?????44774??2010-04-23?14:36??CAR\CAR.ewp

?????文件????????157??2010-08-11?16:50??CAR\CAR.eww

?????文件??????17279??2010-08-11?16:54??CAR\Debug\Exe\CAR.d43

?????文件????????130??2010-08-11?16:54??CAR\Debug\Obj\CAR.pbd

?????文件??????10716??2010-08-11?16:54??CAR\Debug\Obj\main.r43

?????文件???????1565??2010-08-11?16:54??CAR\main.c

?????文件???????2731??2010-08-11?16:56??CAR\settings\CAR.cspy.bat

?????文件???????5475??2010-08-11?16:59??CAR\settings\CAR.dbgdt

?????文件???????1163??2010-08-11?16:59??CAR\settings\CAR.dni

?????文件???????3490??2010-08-11?16:59??CAR\settings\CAR.wsdt

?????目錄??????????0??2010-08-11?16:54??CAR\Debug\Exe

?????目錄??????????0??2010-08-11?16:50??CAR\Debug\List

?????目錄??????????0??2010-08-11?16:59??CAR\Debug\Obj

?????目錄??????????0??2010-08-11?16:50??CAR\Debug

?????目錄??????????0??2010-08-11?16:59??CAR\settings

?????目錄??????????0??2010-08-11?16:56??CAR

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

???????????????107326????????????????????18