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40 lines
832 B
40 lines
832 B
#ifndef _PWM_H |
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#define _PWM_H |
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#include <reg51.h> |
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#include "IRIN.h" |
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void delay(unsigned int k); |
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void run(void); |
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void backrun(void); |
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void leftrun(void); |
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void rightrun(void); |
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void pwm_out_left_moto(void); |
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void pwm_out_right_moto(void); |
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//定义小车驱动模块输入IO口 |
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sbit IN1=P0^4; |
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sbit IN2=P0^5; |
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sbit IN3=P0^6; |
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sbit IN4=P0^7; |
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sbit EN1=P3^4; |
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sbit EN2=P3^5; |
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sbit Left_moto_pwm=P3^5; //PWM信号端 |
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sbit Right_moto_pwm=P3^4; //PWM信号端 |
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#define Left_moto_go {IN3=0,IN4=1;} //左电机向前走 |
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#define Left_moto_back {IN3=1,IN4=0;} //左边电机向后转 |
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#define Left_moto_Stop {EN1=0;} //左边电机停转 |
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#define Right_moto_go {IN1=1,IN2=0;} //右边电机向前走 |
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#define Right_moto_back {IN1=0,IN2=1;} //右边电机向后走 |
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#define Right_moto_Stop {EN2=0;} //右边电机停转 |
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#endif |