控制TAC比赛机器人炮车程序

ID:382568 · 发表于 2018-8-3 15:32

这是我们今年参加TAC比赛炮车的程序。互相

#include "sys.h"
#include "delay.h"
#include "led.h"
#include "usart.h"
#include "key.h"
#include "can.h"
#include "spi.h"
#include "TIMER.h"
#include "Dbus_uart.h"
#include "modbus.h"
#include "tend.h"
#include "pwm.h"
#include "usarttest.h"
u8 canbuf[8]={0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08};
u8 rxbuf[8];
u8 key_hc;
u16 t1sj;
/*==============================================================
Ö÷oˉêy
×￠òa￡o′ò¿aμçÔ′oóèÃμçμ÷Æô¶ˉoóÔù′ò¿aò￡¿ØÆ÷￡¬·ñÔò¿éÄüμçμ÷Æô¶ˉ2»3é1|
===============================================================*/
int main(void)
{
NVIC_Configuration();
delay_init(168); //3õê¼»ˉÑóê±oˉêy
LED_Init(); //3õê¼»ˉLED¶Ë¿ú
//=============================
TIM3_PWM_GPIO();
TIMx_pwm(TIM3,2000,84,1,1,1,1); //2000 ,84
TIM_SetCompare1(TIM3,800); //μçμ÷13õê¼Öμ
TIM_SetCompare2(TIM3,800); //μçμ÷23õê¼Öμ
TIM_SetCompare3(TIM3,800); //μçμ÷33õê¼Öμ
TIM_SetCompare4(TIM3,800); //μçμ÷43õê¼Öμ
delay_ms(500);
MCL1_CLOSE; //Ä|2áÂÖ1Ø±Õ
MCL2_CLOSE; //Ä|2áÂÖ1Ø±Õ
delay_ms(500);
//=============================
Step_Monitor(); //2½½øμç»ú3õê¼»ˉ
ENA=0; //2½½øμç»úê1Äü
delay_ms(1000);
delay_ms(1000);
LED0=LED1=1;
//=============================
uart_init(50000);
KEY_Init();
key4x4_Init();
TIMx_Int_Init(TIM2,1,0,1000,84,ENABLE); //1MS
Dbus_Init(US2_IT);
Dicifa_configration(); //μç′Å·§òy½Å3õê¼»ˉ
uart3_init(115200);
//=============================
TIM_SetCompare1(TIM3,800); //μçμ÷13õê¼Öμ
TIM_SetCompare2(TIM3,800); //μçμ÷23õê¼Öμ
TIM_SetCompare3(TIM3,800); //μçμ÷33õê¼Öμ
TIM_SetCompare4(TIM3,800); //μçμ÷43õê¼Öμ
delay_ms(500); //×îoÃ3õê¼»ˉÔú×îoóÃæ
while(1)
{
if(ledsj<500)LED1=0;
else LED1=1;
if(dbus_bj==dbus_valid)
{
//yaokong_DataProcessing(&dj_data);
mcl_switch();
Step_Action();
//=======½óêÕμ½ò￡¿ØÆ÷êy¾YoóμÄèÎÎñoˉêy=========
jianpan();
//===========½«ò￡¿ØéèÖÃÎa¿ÕÏDÎ»===============
dbus_bj=dbus_leisure;
}
}
}
void TIM2_IRQHandler(void)
{
if(TIM_GetITStatus(TIM2,TIM_IT_Update)!=RESET)
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
//======LEDÑóê±==============
if(dma_one_bj==no_dbus)
ledsj=(ledsj+1)%1000;
//===========================
t1sj=(t1sj+1)%1000;
//======dbusò￡¿Ø½óêÕ=========
dbus_xieyi();
}
}

复制代码

学习一下。

ID:1 · 发表于 2018-8-3 16:46

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