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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;//变量定义 |
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4 unsigned char push_val_left =0;// 左电机占空比N/20 |
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5 unsigned char pwm_val_right =0; |
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6 unsigned char push_val_right=0;// 右电机占空比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 //延时函数 |
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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 //前速前进 |
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26 void run(void) |
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27 { |
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28 1 push_val_left=3; //速度调节变量 0-20。。。0最小，20最大 |
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29 1 push_val_right=pwm_left; |
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30 1 Left_moto_go ; //左电机往前走 |
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31 1 Right_moto_go ; //右电机往前走 |
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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; //速度调节变量 0-20。。。0最小，20最大 |
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37 1 push_val_right=4; |
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38 1 Left_moto_back; //左电机往前走 |
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39 1 Right_moto_back; //右电机往前走 |
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40 1 } |
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41 |
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42 |
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43 //左转 |
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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 ; //右电机往前走 |
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49 1 } |
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50 |
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51 |
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52 //右转 |
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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 ; //左电机往前走 |
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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 /* 右电机调速 */ |
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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定时 |
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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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