2012年4月19号左右完全匹配2012年4月20日匹配成功编辑环境ICCAVR功能实现智能小车寻黑线走此为五路循迹i
cludeiom128vhi
cludemacroshdefi
eui
tu
sig
edi
tdefi
eucharu
sig
edchardefi
eIN1_0PORTA1PA0defi
eIN1_1PORTA1PA0havetok
owwhydefi
eIN2_0PORTA1PA1defi
eIN2_1PORTA1PA1defi
eIN3_0PORTA1PA2defi
eIN3_1PORTA1PA2defi
eIN4_0PORTA1PA3defi
eIN4_1PORTA1PA3defi
ePWM_YxOCR1Axdefi
ePWM_ZxOCR1Bx右边为12dequdo
gPWM_Zx代表左边的赋值Y代表右系统延时函数voiddelayui
tmsi
tijfori0imsiforj0j1140jA端口使能端口1234B端口输出PWM值D端口循迹输入值TCCR1ATCCR1B定时计数器的设置voidcar_qudo
g_i
itvoidDDRA0X0F
fPORTA0X0FDDRB1PB51PB6PORTB1PB51PB6DDRD0X00循迹是输入的方向PORTD0XFFTCCR1A0XA1TCCR1B0X04voidcarsig
edshorti
tZsig
edshorti
tYifY0IN1_1IN2_0PWM_YYelseIN1_0IN2_1PWM_YYifZ0IN3_1IN4_0PWM_ZZelseIN3_0IN4_1PWM_ZZvoidcar_xu
jivoid
fswitchPIND0Xffcase0xe0car00delay1140breakcase0xffcar248248breakcase0xfbcar248248breakcase0xfecar200200delay258breakcase0xfdcar158158delay158breakcase0xf9car168168delay158breakcase0xf3car168168delay158breakcase0xf7car168168delay158breakcase0xefcar200200delay258breakdefaultbreakvoidmai
voidcar_qudo
g_i
itwhile1car_xu
ji
fr