#include?“include.h“??
////////////////////////////////////////////////////////給一些參數賦值，其實就是定義一個變量的值
#define?servMotorCenture??3040//舵機中心值很重要
#define?servMotorLeft?????3570//舵機右極限防止傷害舵機
#define?servMotorRight????2420?//舵機左極限
#include?“common.h“

#define???NM????8
#define???Speed_P?4????????//350
#define???Speed_I??10
#define???Speed_D??0
/*!
?*??@brief??????main函數
?*??@since??????v6.0
?*??@note???????測試?LED?功能是否正常
????????????????看到的效果是LED0和LED1同時亮滅閃爍
?*/
//////////////////////////////////////////////////////////把需要用到的引腳用自己想用字母或詞組定義
#define?MOTOR1_IO???PTD15
#define?MOTOR2_IO???PTA19
#define?MOTOR3_IO???PTA5
#define?MOTOR4_IO???PTA24
///////////////////////////電機用FTM0，一個FTM只能干一件事，假如FTM0用來控制電機了，FTM0就不能控制舵機了或編碼器等
#define?MOTOR_FTM???FTM0
#define?MOTOR1_PWM??FTM_CH3
#define?MOTOR2_PWM??FTM_CH4
#define?MOTOR3_PWM??FTM_CH5
#define?MOTOR4_PWM??FTM_CH6

#define?MOTOR1_PWM_IO??FTM0_CH3
#define?MOTOR2_PWM_IO??FTM0_CH4
#define?MOTOR3_PWM_IO??FTM0_CH5
#define?MOTOR4_PWM_IO??FTM0_CH6

?////////////////////////////////這幾行代碼千萬不能丟，當初我們的車就沒有定義電機初始赫茲（20*1000），才導致車子跑起來特別響（B車模）
#if?0
#define?MOTOR_HZ????（100）
#else
#define?MOTOR_HZ????（20*1000）
#endif
?////////////////////////////////////////////////////////////
?
?
#define?MOTOR_DUTY??80
#define?AMP1?????ADC0_SE8????????//PTB0
#define?AMP2?????ADC0_SE9????????//PTB1
#define?AMP3??????ADC0_SE12?????//PTB2
#define?AMP8??????ADC0_SE13?????//PTB3
#define?AMP4??????ADC1_SE13???????//PTB7
#define?AMP5?????ADC1_SE10??????//PTB4
#define?AMP6?????ADC1_SE11???????//PTB5
#define?AMP7?????ADC1_SE12???????//PTB6
//////////////////////////////////////////舵機占用FTM1模塊，頻率設為200，最高可以三百，其實200夠了，值越大雖然反應速度越快但是舵機力量也就越小，所以找一個恰當的值
#define?S3010_FTM???FTM1
#define?S3010_CH????FTM_CH0
#define?S3010_HZ????（200）???????//不同型號的舵機，頻率不同，具體問舵機的廠家
/////////////////////////////////////下面就是單純的定義一些程序需要用的變量，大家盡量把變量放在void?main（）上面，因為這是全局變量，可以查看值得實時變化，如果放在子函數或者void?main里面，就不可以查看這個變量的值了
uint16??m?=?0;
uint16?sudu[7][18]=
{
??{80090090090090080050050070703300100011007007507004001900}
??{1300140014001400140014001300140017017060001300850110070013005503300}??
??{1450150015001500145014501450165020020080001450930120080015006003900}
??{1500155015501550155014501550155024024080001550950130080016006204000}
??{1550165016501650165016501750155028028090001600970139085016007004500}
??{16001700170017001650165017501550300300900016009801390100016507004500}
???{16001750175017501650165017501550330330900016009801390100017507004800}
};
uint8??A=50B=48C=51E=5F=44r=5O=42;
float?o=48;
Site_t?site;
?int16?max_old?=?2max_crosstalk?=?2;
int16?position_last?=?3;
uint32?chushiziwanmaichong;//當前位置



uint8?chushiziwan=1huanjiandengdai=0rushiziwanchuhuanhuanjiao=0cishu=0ruhuan2chuhuan2=0ruhuan2_lastqipao=0wandaowandao_lastSWAN;??//允許發送標志
uint8?zhidao_last;//速度狀態??

u

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2020-11-10?09:12??國二最新\
?????目錄???????????0??2020-06-04?09:43??國二最新\App\
?????目錄???????????0??2020-06-04?09:43??國二最新\App\Inc\
?????文件????????4429??2017-08-08?14:38??國二最新\App\Inc\MK60_conf.h
?????文件?????????914??2016-09-26?20:06??國二最新\App\Inc\MK60_it.h
?????文件????????5995??2016-09-26?20:06??國二最新\App\Inc\PORT_cfg.h
?????文件????????1524??2016-09-26?20:06??國二最新\App\Inc\include.h
?????文件????????2297??2016-10-02?10:44??國二最新\App\MK60_conf.c
?????文件?????????463??2016-09-26?20:06??國二最新\App\MK60_it.c
?????文件????????9206??2016-10-03?15:17??國二最新\App\enter.h
?????文件???????62194??2017-08-14?00:36??國二最新\App\main.c
?????目錄???????????0??2020-06-04?09:43??國二最新\Board\
?????目錄???????????0??2020-06-04?09:43??國二最新\Board\inc\
?????文件?????????661??2016-09-26?20:07??國二最新\Board\inc\VCAN_ASCII.h
?????文件????????2805??2016-09-26?20:07??國二最新\Board\inc\VCAN_BMP.h
?????文件????????5588??2016-11-10?12:39??國二最新\Board\inc\VCAN_LCD.h
?????文件?????????965??2016-09-26?20:07??國二最新\Board\inc\VCAN_LCD_CH.h
?????文件????????2099??2016-10-24?12:58??國二最新\Board\inc\VCAN_LCD_ILI9325.h
?????文件????????2100??2016-09-26?20:07??國二最新\Board\inc\VCAN_LCD_ILI9341.h
?????文件????????4390??2016-09-26?20:07??國二最新\Board\inc\VCAN_LCD_ST7735R.h
?????文件????????4390??2016-09-26?20:07??國二最新\Board\inc\VCAN_LCD_ST7735S.h
?????文件?????????962??2016-09-26?20:07??國二最新\Board\inc\VCAN_LED.H
?????文件????????3445??2016-09-26?20:07??國二最新\Board\inc\VCAN_MMA7455.h
?????文件????????1904??2016-09-26?20:07??國二最新\Board\inc\VCAN_NRF24L0.h
?????文件????????2366??2016-09-26?20:07??國二最新\Board\inc\VCAN_NRF24L0_MSG.h
?????文件????????2447??2016-09-26?20:07??國二最新\Board\inc\VCAN_OV7725_Eagle.h
?????文件????????4718??2016-09-26?20:07??國二最新\Board\inc\VCAN_OV7725_REG.h
?????文件????????2031??2016-09-26?20:07??國二最新\Board\inc\VCAN_OV7725_Wolf.h
?????文件????????1192??2016-09-26?20:07??國二最新\Board\inc\VCAN_RTC_count.h
?????文件????????1398??2016-09-26?20:07??國二最新\Board\inc\VCAN_SCCB.h
?????文件????????1950??2016-09-26?20:07??國二最新\Board\inc\VCAN_TSL1401.h
............此處省略539個文件信息