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#include <msp430f5529.h>
int pwm_l = 20; //給pwm附一個(gè)初始值
int pwm_r = 20;
void Keyscan();
int begin=20;
//pwm判斷控制
void detect();
int main(void)
{
WDTCTL = WDTPW + WDTHOLD; // 關(guān)閉看門狗
//初始化
//motor 正轉(zhuǎn)
P1DIR |=BIT4+BIT5;//左電機(jī)
P2DIR |=BIT4+BIT5;//右邊電機(jī)
P1OUT |=BIT4;
P1OUT &=~BIT5;
P2OUT |=BIT4;
P2OUT &=~BIT5;
P1DIR |=BIT0;//led
P4DIR |=BIT7;
P1DIR |=BIT2+BIT3;//pwm
P1SEL |= BIT2+BIT3;
P2DIR &=~(BIT2+BIT3) ; //left，right detection
P2OUT |= BIT2+BIT3;
P2REN |=BIT2+BIT3;
TA0CCR0 = 124; //PWM周期定義
TA0CTL = TASSEL_1 + MC_1 + TACLR; //參考時(shí)鐘選擇ACLK，增計(jì)數(shù)模式，清除TAR計(jì)數(shù)器
while(1)
{
TA0CCTL1=OUTMOD_7;
TA0CCTL2=OUTMOD_7;
detect();
TA0CCR1=pwm_l;
TA0CCR2=pwm_r;
__delay_cycles(30000);
pwm_r=begin;
pwm_l=begin;
}
}
void detect()
{
{
if( (P2IN & BIT2) && ( (P2IN & BIT3)==0) )//右偏
{
P4OUT |=BIT7;
__delay_cycles(10000);
P4OUT &=~BIT7;//led down 4.7
pwm_l=pwm_l+20;
}
} if( ((P2IN & BIT2) ==0) && (P2IN & BIT3) )//左偏
{
P1OUT |=BIT0;
__delay_cycles(10000);
P1OUT &=~BIT0;//led down 1.0
pwm_r=pwm_r+20;
}
} |
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