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#include <reg52.h>
#include <..\CONFIG\QXA51.h>
unsigned char pwm_left_val = 210;//左電機(jī)占空比值 取值范圍0-170，0最快
unsigned char pwm_right_val = 210;//右電機(jī)占空比值取值范圍0-170 ,0最快
unsigned char pwm_t;//周期
/*小車前進(jìn)*/
void forward()
{
left_motor_go; //左電機(jī)前進(jìn)
right_motor_go; //右電機(jī)前進(jìn)
}
//定時器0中斷
void timer0() interrupt 1
{
pwm_t++;
if(pwm_t == 255)
pwm_t = EN1 = EN2 = 0;
if(pwm_left_val == pwm_t)
EN1 = 1;
if(pwm_right_val == pwm_t)
EN2 = 1;
}
void main()
{
TMOD |= 0x02;//8位自動重裝模塊
TH0 = 220;
TL0 = 220;//11.0592M晶振下占空比最大比值是256,輸出100HZ
TR0 = 1;//啟動定時器0
ET0 = 1;//允許定時器0中斷
EA = 1;//總中斷允許
while(1)
{
forward();//前進(jìn)
}
}
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