void?pulse_out（int?motor_numunsigned?char?dir）?????//電機(jī)脈沖輸出函數(shù)（請(qǐng)自己添加對(duì)應(yīng)硬件函數(shù)）
{
????if（dir==0）?????//收線
????????switch?（motor_num）
????????{
????????case?1?:motor_1（1）;break;
????????case?2?:motor_2（1）;break;
????????case?3?:motor_3（1）;break;
????????}
????else??????????//放線
????{
????????switch?（motor_num）
????????{
????????case?1?:motor_1（-1）;break;
????????case?2?:motor_2（-1）;break;
????????case?3?:motor_3（-1）;break;
????????}
????}
}
unsigned?int?int_abs（int?num）
{
????if（num<0）num=0-num;
????return?num;
}
void?Motor_linkage（int?Motor1_stepunsigned?char?Motor1_dirint?Motor2_stepunsigned?char?Motor2_dirint?Motor3_stepunsigned?char?Motor3_dir）
{
????int?max?=?0;??????????//通過冒泡排序，找出最大的脈沖數(shù)
????int?mid?=?0;
????int?min?=?0;
????int?max_pulse_num?=?0mid_puls