标题: 这是点光源追踪系统的程序，F5529的但是烧录之后舵机一直不转，请帮我看看问题出在哪 [打印本页]

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作者: 菜鸡一只    时间: 2015-5-5 22:26
标题: 这是点光源追踪系统的程序，F5529的但是烧录之后舵机一直不转，请帮我看看问题出在哪

#include <msp430f5529.h>

#define uint unsigned int

#define uchar unsigned char

unsigned int a[32],b[4];

unsigned int i=50,j=50;

void delay(uint z);

void pwm();

void circle();

void main( void )

{

    P1OUT=0x00;

    WDTCTL = WDTPW + WDTHOLD;

    UCSCTL4&=0x0000;

    pwm();

while(1)

{

    ADC12CTL0=ADC12SHT0_2+ADC12ON+ADC12TOVIE;     /* 16 x ADC10CLKs *//* ADC10 On/Enable*//* ADC10 Interrupt Enalbe */

    ADC12CTL0|=0x0020;   /* Reference generator on    0 Reference off 1 Reference on */

    ADC12CTL1=ADC12INCH_6;    /* Selects Channel 1 */

    ADC12CTL1|=ADC12CSTARTADD_6;      /* ADC10 Analog Enable 0 */

    ADC12CTL0|=ADC12ENC+ADC12SC;/*ADC10 Enable Conversion *//* ADC10 Start Conversion */

    _bis_SR_register(CPUOFF+GIE);

    b[1]=ADC12MEM;

    delay(2);

    ADC12CTL0=ADC12SHT0_2+ADC12ON+ADC12TOVIE;

    ADC12CTL0|=0x0020;

    ADC12CTL1=ADC12INCH_7;

    ADC12CTL1|=ADC12CSTARTADD_7;

    ADC12CTL0|=ADC12ENC+ADC12SC;

    _bis_SR_register(CPUOFF+GIE);

    b[3]=ADC12MEM;

    delay(2);

    ADC12CTL0=ADC12SHT0_2+ADC12ON+ADC12TOVIE;

    ADC12CTL0|=0x0020;

    ADC12CTL1=ADC12INCH_12;

    ADC12CTL1|=ADC12CSTARTADD_12;

    ADC12CTL0|=ADC12ENC+ADC12SC;

    _bis_SR_register(CPUOFF+GIE);

    b[0]=ADC12MEM;

    delay(2);

    ADC12CTL0=ADC12SHT0_2+ADC12ON+ADC12TOVIE;

    ADC12CTL0|=0x0020;

    ADC12CTL1=ADC12INCH_13;

    ADC12CTL1|=ADC12CSTARTADD_13;

    ADC12CTL0|=ADC12ENC+ADC12SC;

    _bis_SR_register(CPUOFF+GIE);

    b[2]=ADC12MEM;

    delay(2);

     if(b[1]>b[3])

     {

      if(b[1]-b[3]>150)

      {

         TA0CCR1=TA0CCR1+i;

        delay(300);

        i=i+3;

      }

     }

     if(b[3]>b[1])

     {

      if(b[3]-b[1]>150)

      {

         TA0CCR1=TA0CCR1-i;

        delay(300);

        i=i+3;

      }

     }

    if(b[0]>b[2])

     {

      if(b[0]-b[2]>150)

      {

         TA0CCR1=TA0CCR1+j;

        delay(300);

        j=j+3;

     }

     }

      if(b[2]>b[0])

     {

      if(b[2]-b[0]>150)

      {

         TA0CCR1=TA0CCR1-j;

        delay(300);

        j=j+3;

      }

     }

}

}

void pwm()

{

P2DIR|=BIT2;

P2SEL|=BIT2;

P2DIR|=BIT3;

P2OUT|=BIT3;

TA0CTL|= MC_1+TASSEL__SMCLK;/*Timer A Control *//* Timer A mode control: 1 - Up to CCR0 */ /* Timer A clocksource select: 2 - SMCLK */

TA0CCTL1 = OUTMOD_7;/* Timer A Capture/Compare Control 1 *//* PWM outputmode: 7 - PWM reset/set */

TA0CCR0 = 20000;

TA0CCR1 = 1000 ;

}

void delay(uint z)

{

uint i,j;

for(i=210;i>0;i--)

    for(j=z;j>0;j--);

}

#pragma vector=ADC12_VECTOR

__interrupt void ADC12_ISR(void)

{

__bic_SR_register_on_exit(CPUOFF);       // Clear CPUOFF bit from 0(SR)

}

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作者: 菜鸡一只    时间: 2015-5-5 22:29
我的连舵机的线都没有问题，舵机信号线连接着P2.3，烧录之后一直舵机不转，求高手帮忙解决，急。。。

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