C51 COMPILER V9.56.0.0   PWM                                                               04/06/2022 21:56:10 PAGE 1   


C51 COMPILER V9.56.0.0, COMPILATION OF MODULE PWM
OBJECT MODULE PLACED IN pwm.OBJ
COMPILER INVOKED BY: D:\Keil_v5\C51\BIN\C51.EXE pwm.c OPTIMIZE(8,SPEED) BROWSE DEBUG OBJECTEXTEND TABS(2)

line level    source

   1          #include "pwm.h"
   2          
   3          unsigned char pwm_val_left  =0;//变量定义
   4          unsigned char push_val_left =0;// 左电机占空比N/20
   5          unsigned char pwm_val_right =0;
   6          unsigned char push_val_right=0;// 右电机占空比N/20
   7          unsigned char pwm_left=0;
   8          
   9          bit Right_moto_stop=1;
  10          bit Left_moto_stop =1;
  11          
  12          unsigned  int  time1=0;
  13             
  14             
  15             
  16          /************************************************************************/  
  17          //延时函数  
  18           void delay(unsigned int k)
  19          {    
  20   1           unsigned int x,y;
  21   1         for(x=0;x<k;x++) 
  22   1           for(y=0;y<2000;y++);
  23   1      }
  24          /************************************************************************/
  25          //前速前进
  26            void  run(void)
  27          {
  28   1         push_val_left=3;  //速度调节变量 0-20。。。0最小，20最大
  29   1         push_val_right=pwm_left;
  30   1         Left_moto_go ;   //左电机往前走
  31   1         Right_moto_go ;  //右电机往前走
  32   1      }
  33          
  34           void  backrun(void)
  35          {
  36   1         push_val_left=3;  //速度调节变量 0-20。。。0最小，20最大
  37   1         push_val_right=4;
  38   1         Left_moto_back;   //左电机往前走
  39   1         Right_moto_back;  //右电机往前走
  40   1      }
  41          
  42          
  43          //左转
  44               void  leftrun(void)
  45          {  
  46   1           push_val_left=0;
  47   1           push_val_right=4;
  48   1           Right_moto_go ;  //右电机往前走
  49   1      }
  50          
  51          
  52          //右转
  53          void  rightrun(void)
  54          { 
  55   1          push_val_right=0;
C51 COMPILER V9.56.0.0   PWM                                                               04/06/2022 21:56:10 PAGE 2   

  56   1          push_val_left=4;
  57   1          Left_moto_go  ;   //左电机往前走
  58   1      }
  59          
  60          
  61          void pwm_out_left_moto(void)
  62          {  
  63   1         if(Left_moto_stop)
  64   1         {
  65   2          if(pwm_val_left<=push_val_left)
  66   2               {
  67   3               Left_moto_pwm=1; 
  68   3               }
  69   2           else 
  70   2               {
  71   3                 Left_moto_pwm=0;
  72   3               }
  73   2          if(pwm_val_left>=20)
  74   2               pwm_val_left=0;
  75   2          }
  76   1         else    
  77   1                {
  78   2                 Left_moto_pwm=0;
  79   2                }
  80   1      }
  81          /******************************************************************/
  82          /*                    右电机调速                                  */  
  83             void pwm_out_right_moto(void)
  84          { 
  85   1        if(Right_moto_stop)
  86   1         {
  87   2          if(pwm_val_right<=push_val_right)
  88   2              {
  89   3               Right_moto_pwm=1;  
  90   3             }
  91   2        else 
  92   2              {
  93   3             Right_moto_pwm=0;
  94   3              }
  95   2        if(pwm_val_right>=20)
  96   2               pwm_val_right=0;
  97   2         }
  98   1         else    
  99   1              {
 100   2                 Right_moto_pwm=0;
 101   2              }
 102   1      }
 103                 
 104          void timer1()interrupt 3
 105          {
 106   1         TH1=0XFc;    //1Ms定时
 107   1         TL1=0X18;
 108   1         time1++;
 109   1      //   pwm_val_left++;
 110   1         pwm_val_right++;
 111   1      //   pwm_out_left_moto();
 112   1         pwm_out_right_moto();
 113   1      } 
 114          
 115          
 116          
 117          
C51 COMPILER V9.56.0.0   PWM                                                               04/06/2022 21:56:10 PAGE 3   



MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    172    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      7    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =      2    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)