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C51 COMPILER V9.56.0.0 PWM 04/06/2022 21:56:10 PAGE 1
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C51 COMPILER V9.56.0.0, COMPILATION OF MODULE PWM
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OBJECT MODULE PLACED IN pwm.OBJ
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COMPILER INVOKED BY: D:\Keil_v5\C51\BIN\C51.EXE pwm.c OPTIMIZE(8,SPEED) BROWSE DEBUG OBJECTEXTEND TABS(2)
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line level source
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1 #include "pwm.h"
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2
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3 unsigned char pwm_val_left =0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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4 unsigned char push_val_left =0;// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD>ձ<EFBFBD>N/20
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5 unsigned char pwm_val_right =0;
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6 unsigned char push_val_right=0;// <EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD>ձ<EFBFBD>N/20
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7 unsigned char pwm_left=0;
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8
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9 bit Right_moto_stop=1;
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10 bit Left_moto_stop =1;
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11
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12 unsigned int time1=0;
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13
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14
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15
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16 /************************************************************************/
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17 //<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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18 void delay(unsigned int k)
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19 {
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20 1 unsigned int x,y;
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21 1 for(x=0;x<k;x++)
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22 1 for(y=0;y<2000;y++);
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23 1 }
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24 /************************************************************************/
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25 //ǰ<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>
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26 void run(void)
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27 {
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28 1 push_val_left=3; //<EFBFBD>ٶȵ<EFBFBD><EFBFBD>ڱ<EFBFBD><EFBFBD><EFBFBD> 0-20<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>20<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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29 1 push_val_right=pwm_left;
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30 1 Left_moto_go ; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>
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31 1 Right_moto_go ; //<EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>
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32 1 }
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33
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34 void backrun(void)
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35 {
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36 1 push_val_left=3; //<EFBFBD>ٶȵ<EFBFBD><EFBFBD>ڱ<EFBFBD><EFBFBD><EFBFBD> 0-20<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>20<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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37 1 push_val_right=4;
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38 1 Left_moto_back; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>
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39 1 Right_moto_back; //<EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>
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40 1 }
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41
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42
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43 //<EFBFBD><EFBFBD>ת
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44 void leftrun(void)
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45 {
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46 1 push_val_left=0;
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47 1 push_val_right=4;
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48 1 Right_moto_go ; //<EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>
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49 1 }
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50
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51
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52 //<EFBFBD><EFBFBD>ת
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53 void rightrun(void)
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54 {
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55 1 push_val_right=0;
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C51 COMPILER V9.56.0.0 PWM 04/06/2022 21:56:10 PAGE 2
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56 1 push_val_left=4;
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57 1 Left_moto_go ; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>
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58 1 }
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59
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60
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61 void pwm_out_left_moto(void)
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62 {
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63 1 if(Left_moto_stop)
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64 1 {
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65 2 if(pwm_val_left<=push_val_left)
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66 2 {
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67 3 Left_moto_pwm=1;
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68 3 }
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69 2 else
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70 2 {
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71 3 Left_moto_pwm=0;
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72 3 }
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73 2 if(pwm_val_left>=20)
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74 2 pwm_val_left=0;
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75 2 }
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76 1 else
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77 1 {
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78 2 Left_moto_pwm=0;
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79 2 }
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80 1 }
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81 /******************************************************************/
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82 /* <EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
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83 void pwm_out_right_moto(void)
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84 {
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85 1 if(Right_moto_stop)
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86 1 {
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87 2 if(pwm_val_right<=push_val_right)
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88 2 {
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89 3 Right_moto_pwm=1;
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90 3 }
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91 2 else
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92 2 {
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93 3 Right_moto_pwm=0;
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94 3 }
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95 2 if(pwm_val_right>=20)
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96 2 pwm_val_right=0;
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97 2 }
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98 1 else
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99 1 {
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100 2 Right_moto_pwm=0;
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101 2 }
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102 1 }
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103
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104 void timer1()interrupt 3
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105 {
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106 1 TH1=0XFc; //1Ms<EFBFBD><EFBFBD>ʱ
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107 1 TL1=0X18;
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108 1 time1++;
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109 1 // pwm_val_left++;
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110 1 pwm_val_right++;
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111 1 // pwm_out_left_moto();
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112 1 pwm_out_right_moto();
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113 1 }
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114
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115
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116
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117
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C51 COMPILER V9.56.0.0 PWM 04/06/2022 21:56:10 PAGE 3
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MODULE INFORMATION: STATIC OVERLAYABLE
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CODE SIZE = 172 ----
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CONSTANT SIZE = ---- ----
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XDATA SIZE = ---- ----
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PDATA SIZE = ---- ----
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DATA SIZE = 7 ----
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IDATA SIZE = ---- ----
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BIT SIZE = 2 ----
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END OF MODULE INFORMATION.
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C51 COMPILATION COMPLETE. 0 WARNING(S), 0 ERROR(S)
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