电磁组智能车全国一等奖代码

void main(void)
{
while(1)
{
AD_GetValue(); //获得传感器AD值Cal_PostitionA(); //获得？
if(SenA!=50)
{
Delayms(500);
break;
}
Delayms(50);
SenA=50;
}
#include <hidef.h> /* common defines and macros */
#include "derivative.h" /* derivative-specific definitions*/
#define SERVO_MIDDLE_V ALUE 1184 舵机中值
#define SERVO_RANGE 180 舵机转动范围
void Set_PWM(uint PWM1,uint PWM2)
{
PWMDTY1=PWM1;
PWMDTY0=PWM2;
}
void Set_Servo(uchar value) //舵机
{
uint i;
if(value>100||value<0) value=last_value; 保持上一次状态
last_value=value;
if(value<=50) i=SERVO_MIDDLE_V ALUE-(50-value)*18/5;
if(value>50) i=SERVO_MIDDLE_V ALUE+(value-50)*18/5;
PWMDTY23=i;
}
void Pwm_Init(void) //PWM初始化
{
PWME=0X00; //禁止PWM输出
PWMCTL_CON23=1; //2和3联合成16位PWM，并且2的寄存器为级联后寄存
器的高8位
PWMCAE_CAE3=0; //左对齐方式，即占空比常数所决定的时间为从周期原点开始计时,此时计数器只使用加法计数
PWMCNT23 = 0; //计数器清零
PWMPOL_PPOL3=1; //设置输出极性，即先默认为高电平
PWMPRCLK = 0X01; // clockB 不分频,clockB=64MHz;CLK A 2 分频:32Mhz PWMSCLB = 0x20; // clock SB 64分频clock=clockB/64=1MHz 0.001ms PWMCLK_PCLK3 = 1; //选择clock SB 做时钟源
PWMPER23 =10000; //将PWM的周期设置为10ms
PWMPOL_PPOL0=1; //PWM0 首先输出高电平
PWMPOL_PPOL1=1; //PWM1 首先输出高电平
PWMCLK_PCLK0=1; // PWM0 用SA 做时钟源
PWMCLK_PCLK1=1; // PWM1 用SA 做时钟源
PWMCAE_CAE0=0; //左对齐输出
PWMCAE_CAE1=0; //左对齐输出
Set_PWM(0,0);
}
uchar Moto_PID() //电机的PID控制
if(err>8)
{
Set_PWM(100,0);
return 0;
}
if(err<-10)
{
Set_PWM(100,100);
return 0;
}
Set_PWM(M_PWM,0);
}
uchar Servo_PID() //舵机的PID控制
if(Rel_SenA>43)
{
Set_Servo(100);
return 0;
}
if(Rel_SenA<-43)
{
Set_Servo(0);
return 0;
}
}
#include <hidef.h> /* common defines and macros */
#include "derivative.h" /* derivative-specific definitions*/
uchar AD_Value[16];
uint Sen_V alue;
uint SenA;
void ADC_Init(void) // ADC初始化
{
ATD0CTL1=0x00; //不设置外部终端，只设置8位精度
ATD0CTL2=0x40; //禁止外部触发，中断禁止，转换后自动清除寄存器ATD0CTL3=0x80;
ATD0CTL4=0x03;
PRS=7, divider=8;
ATD0CTL5=0x30; //连续转换，多通道转换，通道AN0开始
ATD0DIEN=0x00; //相应的数字信号输入禁止
}
void AD_GetValue() //获取AD值
{
while(ATD0STAT2_CCF0==0); //判断通道0是否转换完成
AD_V alue[0]=ATD0DR0;
AD_V alue[1]=ATD0DR1;
AD_V alue[2]=ATD0DR2;
}
uchar Cal_PostitionA()
{
uchar i;
uint sum;
for(i=0;i<6;i++)
{
if(AD_Value[i]<=15) AD_V alue[i]=0;
}
sum=AD_Value[0]+AD_Value[1]+AD_V alue[2];
if(sum!=0)
{
sum=sum/(AD_Value[0]+AD_Value[2]+AD_Value[5]);
SenA=sum;
return 0;
}
else return 1;
}
#include <hidef.h>
#include "derivative.h"
void Key_Init()
{
KEY_IN;
}
uchar Key_Scan()
{
if(KEY==0) return 1;
return 0;
}
void Switch_Init()
{
SWTICH_IN;
}
uchar Switch_Scan()
{
return (PORTB&0x0f);
}
void Stop()
{
Target_Speed=0;
while(1)
{
Set_PWM(100,100);
AD_GetValue();
Cal_PostitionA();
Set_Servo(100-SenA);
}
}
void INT_Init(void)/
{
PITCFLMT_PITE=0;
PITCE=0x07;
PITMTLD0=128;
PITLD0=2000;
PITLD1=12500;
}
#pragma CODE_SEG __NEAR_SEG NON_BANKED
void interrupt 66 PIT0(void) //定时器0初始化
{
PITTF_PTF0=1;
System_Feed_Speed=PACNT;
}
void interrupt 67 PIT1(void) //25ms
{
static i;
PITTF_PTF1=1; //清除PIT1的标记
System_RunTime_Count++;
}
#define LEFT AD_Value[0]
#define RIGHT AD_Value[1]
static uchar AD_V ALUE_MAX;
uchar SenA2;
uchar Cal_2_A()
if(LEFT<5||RIGHT<5) return 1;
if(AD_V ALUE_MAX<LEFT) AD_V ALUE_MAX=LEFT;
if(AD_V ALUE_MAX<RIGHT) AD_V ALUE_MAX=RIGHT;
if(LEFT>RIGHT)
{
if(RIGHT>10)
{
SenA2=(AD_V ALUE_MAX-LEFT)*20/AD_V ALUE_MAX;
}
}
else
{
if(LEFT>10)
{
SenA2=RIGHT*20/AD_V ALUE_MAX;
}
}
#include <hidef.h> /* common defines and macros */
#include "derivative.h" /* derivative-specific definitions*/
static void Reed_Switches_Init(void) //干簧开关端口初始化模块{
DDRJ = 0X00;
PPSJ_PPSJ6 =1;
PIEJ_PIEJ6 = 1
PERJ = 0xff; //
}。