avr空手動機器人源程序

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1、#include#include#defineuintunsignedint#defineucharunsignedcharvolatileuintkeys;intj=100;/////延時子函數(shù)///voiddelayms(uintz)//1ms左右{uintx,y;for(x=0;x

2、;//控制伸縮和升降PORTB=0X04;//PB.3為控制升降PWMDDRA=0xFF;//0.1.控制手臂PORTA=0x00;TCCR1A=0xA1;TCCR1B=0x01;OCR1A=10;/*伸縮PWM設置*/TCCR2=0X61;//PWM相位修正，64分頻OCR2=70;///*升降PWM設置*/TCCR0=0X61;//PWM相位修正，64分頻}voidusart0_init()//USART初始化{UCSRB=0X00;UCSRA=0x02;UCSRB=0x98;UCSRC=0x86;UBRRH=0x00;UBRRL=0x67;}voiduart0_send(u

3、nsignedchari){while(!(UCSRA&0X20));UDR=i;}voiddog_init(void){WDTCR=0x18;WDTCR=0x08;}//4x4矩陣鍵盤掃描函數(shù)//uintkey_scan(void){uchark;uintkey=0;for(k=0;k<4;k++){DDRC=1<>4);}return(key);}/*voidpwm_hand(uintk){OCR1A=255*k/10;}*//*//升降PWM設置///voidtiaosu(uintj){OCR0=j;//d

4、elayms(100);}*////升降加速///voidjia(void){if(j>=230)j=240;}///升降減速///voidjian(void){if(j<=10)j=5;}//操作升降和伸縮//voidmanage(void){ucharpb2;pb2=PINB.2;keys=key_scan();switch(keys){case0xF7FF:{dog_init();delayms(30);}break;//9按鍵看門狗復位case0xFdFF:{uart0_send(0X55);}break;//10搖桿看門狗復位case0xffef:{uart0_send

5、(0x13);}break;//6加速case0xFFdF:{uart0_send(0x31);}break;//7減速//case0xFbFF:{PORTB.2=0;}break;///macro,現(xiàn)關閉//case0xFFFD:{uart0_send(0x12);}break;//左case0xbbff:{PORTB.4=1;PORTB.5=0;}break;case0x7FFF:{PORTB.0=1;PORTB.1=0;OCR0=j;}break;//1,上升case0xdFFF:{PORTB.0=0;PORTB.1=1;OCR0=j;}break;//3,下降case0x

6、bfff:{if(pb2==1){PORTB.4=0;PORTB.5=0;}else{PORTB.4=1;PORTB.5=0;}}break;//4,手臂伸出case0xeFFF:{PORTB.4=0;PORTB.5=1;}break;//2,手臂收回case0xFFF7:{PORTB.6=1;PORTB.7=0;}break;//抬上鍵case0xFFFD:{PORTB.6=0;PORTB.7=1;}break;//放左case0xFFFB:{PORTB.6=1;PORTB.7=0;}break;//抬右鍵case0xFFFE:{PORTB.6=0;PORTB.7=1;}bre

7、ak;//放下case0x3FFF:{PORTB.0=1;PORTB.1=0;PORTB.4=1;PORTB.5=0;OCR0=j;}break;//上升伸出case0x6FFF:{PORTB.0=1;PORTB.1=0;PORTB.4=0;PORTB.5=1;OCR0=j;}break;//上升收回case0x9FFF:{PORTB.0=0;PORTB.1=1;PORTB.4=1;PORTB.5=0;OCR0=j;}break;//下降伸出case0xcFFF:{PORTB.0