飞思卡尔智能车的数据采集(CCD摄像头)程序,舵机,电机控制程序

合集下载

相关主题

1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。

***********************************************************************************

* Test.c

* Description: This file includes I/ O function for test, the PWM outputs function for test, function

* testing sensors.

*

* By : Zhao Cheng

* Note : Don't change this file if possible.

**********************************************************************************/

#include

#define HIGHSPEED 8000

#define LOWSPEED 11000 /* 速度变量，0-24000 数值越大，速度越慢*/

void PWMout(int, int);

/* 24000-20000 */

void IOtest(void)

{

static unsigned char i=0,j=0x01,k;

DDRB = DDRA = 0xFF;

PORTB = 0xf0;

for(;;)

{

k=(~j)&0x7f;

PORTA = PORTB = k; while (TCNT != 0x0000); while (TCNT == 0x0000) {

if(i>9)

{

j=j<<1;

i=0;

}

i++;

}

if(j>=0x80)

j=0x01;

}

void PWMtest(void) {

int counter=-4500;

DDRB = 0xff;

PORTB = 0xff;

TSCR1 = 0x80; /* enable timer TCNT */ TSCR2 = 0x00; /* TCNT prescaler setup */ for(;;)

{

while (TCNT != 0x0000);

while (TCNT == 0x0000);

counter=counter+30;

if(counter >= 3000)

{

counter = 0;

PWMout(4500, LOWSPEED);

}

if(counter == 1500)

{

PWMout(-4500, LOWSPEED);

}

PORTB = (char)(counter/100);

}

void SignalTest(void)

{

unsigned char signal;

int Direction, Velocity; Direction = 0;

Velocity = LOWSPEED; DDRA = 0x00;

DDRB = 0xff;

signal = PORTA;

PORTB = ~signal;

switch(signal)

{

case 0x08: /* 0001 1000 */ case 0x10:

Direction = 800;

Velocity = HIGHSPEED; break;

case 0x04: /* 0010 0100 */ case 0x20:

Direction = 1500; Velocity = HIGHSPEED;

break;

case 0x02: /* 0100 0010 */

case 0x40:

Direction = 2800;

Velocity = HIGHSPEED;

break;

case 0x01: /* 1000 0001 */

case 0x80:

Direction = 4000;

Velocity = LOWSPEED;

break;

case 0x3c: /* 0011 1100 over start line */

case 0xff: /* 1111 1111 over crossing line */

case 0x00: /* 0000 0000 go straight not need changed state */ default:

break;

}

if(signal > 0x0f)

Direction = -Direction;

PWMout(Direction, LOWSPEED);

}

/*

*********************************************************************************** * LCD1620.c

* ICC-AVR application builder : 2006-1-8 21:43:48

* Target : M8

* Crystal: 4.0000Mhz

*

* Note : Don't change this file if possible.

**********************************************************************************/ #define CMD_CLEAR 0x01

#define CMD_RESET 0x02

#include

#define LCD_DATA 0xff

#define LCD_EN 0x01 //PORTC 0

#define LCD_RS 0x02 //PORTC 1

#define LCD_RW 0x04 //PORTC 2

#define LCD_DATAPORT PORTB

#define LCD_ENPORT PORTA

#define LCD_RSPORT PORTA

#define LCD_RWPORT PORTA