#include "pwm.h"

unsigned char pwm_val_left  =0;//变量定义
unsigned char push_val_left =0;// 左电机占空比N/20
unsigned char pwm_val_right =0;
unsigned char push_val_right=0;// 右电机占空比N/20
unsigned char pwm_left=0;

bit Right_moto_stop=1;
bit Left_moto_stop =1;

unsigned  int  time1=0;
   
	 
	 
/************************************************************************/	
//延时函数	
 void delay(unsigned int k)
{    
     unsigned int x,y;
	 for(x=0;x<k;x++) 
	   for(y=0;y<2000;y++);
}
/************************************************************************/
//前速前进
  void  run(void)
{
   push_val_left=3;	 //速度调节变量 0-20。。。0最小，20最大
	 push_val_right=pwm_left;
   Left_moto_go ;   //左电机往前走
	 Right_moto_go ;  //右电机往前走
}

 void  backrun(void)
{
   push_val_left=3;	 //速度调节变量 0-20。。。0最小，20最大
	 push_val_right=4;
	 Left_moto_back;   //左电机往前走
	 Right_moto_back;  //右电机往前走
}


//左转
     void  leftrun(void)
{	 
     push_val_left=0;
	   push_val_right=4;
	   Right_moto_go ;  //右电机往前走
}


//右转
void  rightrun(void)
{ 
	  push_val_right=0;
	  push_val_left=4;
    Left_moto_go  ;   //左电机往前走
}


void pwm_out_left_moto(void)
{  
   if(Left_moto_stop)
   {
    if(pwm_val_left<=push_val_left)
	       {
		     Left_moto_pwm=1; 
		     }
	   else 
	       {
	         Left_moto_pwm=0;
		     }
	  if(pwm_val_left>=20)
	       pwm_val_left=0;
    }
   else    
          {
           Left_moto_pwm=0;
		      }
}
/******************************************************************/
/*                    右电机调速                                  */  
   void pwm_out_right_moto(void)
{ 
  if(Right_moto_stop)
   {
    if(pwm_val_right<=push_val_right)
	      {
	       Right_moto_pwm=1;  
		   }
	else 
	      {
		   Right_moto_pwm=0;
		    }
	if(pwm_val_right>=20)
	       pwm_val_right=0;
   }
   else    
        {
           Right_moto_pwm=0;
	      }
}
       
void timer1()interrupt 3
{
   TH1=0XFc;	  //1Ms定时
	 TL1=0X18;
	 time1++;
//	 pwm_val_left++;
	 pwm_val_right++;
//	 pwm_out_left_moto();
	 pwm_out_right_moto();
}