#include?
#define?uchar?unsigned?char?
#define?uint?unsigned?int
#include?“12864.c“
#include?
signed?int?ADC0=0ADC1=0ADC2=0;??????//濾波值
uint?FrontReart1t2;?/*a為舵機1的脈沖寬度，b為舵機2的脈沖寬度，單位1/1000?ms?*/?/*c、d為中間變量*/
uchar?flag1=1flag2=1;
uint?cnt=0;
//?接口說明
//P10?front?前輪舵機方向
//P11?rear??后輪電機PWM輸出
//P20?P21???紅外黑白線探測?白為高?黑為低
void?DelayMs（unsigned?int?delay）????//?MCLK=1.25uS
{
??unsigned?long?v;
??for?（v=（（long）delay*80）;v>0;v--）;
}

void?Forward（void）{
??Front?=?1050;
??Rear??=?300;
??CCR0?=?Front;
??CCR1?=?Rear;
??t1?=?Front;
??t2?=?Rear;
//??TACTL?|=?TACLR;
//??TACTL?|=?MC1;
//??DelayMs（time）;
//??TACTL?&=?~MC_1;
//??P1OUT?&=?0xfc;
}

void?Turnright（）{
??Front?=?850;
??Rear??=?200;
??CCR0?=?Front;
??CCR1?=?Rear;
??t1?=?Front;
?