Programming Used 4

8/17/2019 Programming Used 4

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#defne FP 5000000

//===========skps protocol==============//

#defne p_select 0#defne p_joyl 1

#defne p_joyr 2

#defne p_start 3

#defne p_up 4

#defne p_rigt 5

#defne p_do!n "

#defne p_let $

#defne p_l2 %

#defne p_r2 &

#defne p_l1 10

#defne p_r1 11

#defne p_triangle 12

#defne p_circle 13

#defne p_cross 14

#defne p_s'uare 15

#defne p_joy_l( 1"

#defne p_joy_ly 1$

#defne p_joy_r( 1%

#defne p_joy_ry 1&

#defne p_joy_lu 20

#defne p_joy_ld 21

#defne p_joy_ll 22

#defne p_joy_lr 23

#defne p_joy_ru 24

#defne p_joy_rd 25

#defne p_joy_rl 2"

#defne p_joy_rr 2$

#defne p_con_status 2%


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#defne p_)otor1 2&

#defne p_)otor2 30

//=======================================//

*oidinit_+,-*oid.*oidinit_P-*oid.

*oidcange_pin-*oid.

//====unction )ecanu) using saertoot====//

*oid)ecanu)_or!ard-unsigned int ) unsigned int).

*oid)ecanu)_re*erse-unsigned int ) unsigned int).

*oid)ecanu)_let-unsigned int ) unsigned int).

*oid)ecanu)_rigt-unsigned int ) unsigned int).

*oid )ecanu)_45-unsigned int ) unsigned int).




*oid)ecanu)_6-unsigned int ) unsigned int).


*oid )ecanu)_turn1-unsigned int ) unsigned int).

//====unction )ecanu) using relay====//

*oid)ecanu)_relay_or!ard -*oid.

*oid)ecanu)_relay_re*erse -*oid.

*oid)ecanu)_relay_rigt -*oid.

*oid)ecanu)_relay_let -*oid.

*oid)ecanu)_relay_6 -*oid.


*oidsp_relay_)a(-*oid. //unction speed )a(/nor)al/slo!

*oidsp_relay_slo!-*oid.

*oidsp_relay_nor)al-*oid.

*oidte)ak -*oid.

//====skps====//

*oiduart_send-unsigned car data.

unsigned car uart_rec-*oid.


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unsigned car skps-unsigned car data.

*oid init_uart2-*oid.

//====unction ta)aan====//

*oid delay-unsigned long i.*oidled_linking-*oid.

unsigned car s1

unsigned car s1

unsigned car s2

unsigned car s2

unsignedint static ( = 30

unsignedint static y = 55

int )ain-*oid.

7

89:8isale

init_+,-.

9+;;


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!ile-1.

7


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A

else i-skps-p_joy_ld.C=50.

7

ser*o1=ser*o1D5i-ser*o1E=200.

7

ser*o1=200

A

A

else i-skps-p_joy_lu.C=50.

7

ser*o1=ser*o15

i-ser*o1C=400.

7

ser*o1=400

A

A

else i-skps-p_joyl.==0.

7

ser*o1=240

A

else i-skps-p_joy_rl.C=50.

7

ser*o2=ser*o25

i-ser*o1C=250.

7

ser*o2=250

A

A

else i-skps-p_joy_rr.C=50.

7


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ser*o2=ser*o2D5

i-ser*o1E=200.

7

ser*o2=200 A

A

else i-skps-p_cross.==0.

7


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*oidinit_+,-*oid.

7

//================:


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9+:JitsH9+:J13 = 0

9+:BitsH9+:B3 = 0

//12P+? +/0 9+:@itsH9+:@12 = 0 //9+;;2=0

9>3=0

9>4=0

//=================+?+9+G+L< 9, L


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P96,?2itsHP6I8+K=" //001 = 8i*ideDyD"4

/MOOOOOOOOOOOOOOOOOOOOOOO P1 6onfgurationOOOOOOOOOOOOOOOOOOOOOOOOOOOOM/

+,6,?1itsHP


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G9893 = "4 /M 8eadti)e setting M/

P@G:


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89" = "4 /M 8eadti)e setting M/

G989" = "4 /M 8eadti)e setting M/

P@G:


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P,1itsHP"$=3 //G92D9> 00 0011

P,1itsHP""=2$ //G93D9> 01 1011

P,0itsHP"5=2& //G94D9> 01 1101A

*oid init_uart2-*oid.

7

2:9GitsH>+:+P=5

2:9GitsH,+F = 0

++< = 0

2,8


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// skps unction -read and !rite data to P:2.

//=======================================================================

unsigned car skps-unsigned car data. //unction to read utton and

joystick

7

uart_send-data.

returnuart_rec-.

A

*oid delay-unsigned long i.

7

or-iC0iDD.

7A

A

*oidled_linking-*oid.

7


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s2 = "4 D ) (

s2 = 1&2 D ) (

49>


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*oid)ecanu)_re*erse-unsigned int ) unsigned int).

7

i-skps-p_triangle.==0.

7 s1 = "4 D ) (

s1 = 1&2 D ) (

39>


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s2 = "4 )

s2 = 1&2 )

49>


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49>


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s1 = "4 ) Dy

s1 = 1&2 D ) y

39>


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s2 = "4 D ) (

s2 = 1&2

49>


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7


7 s1 = "4

s1 = 1&2 ) D(

39>


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s2 = "4

s2 = 1&2 D )

49>


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49>


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s1 = "4

s1 = 1&2 D ) y

39>


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s2 = "4 D ) (

s2 = 1&2 ) D(

49>


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7


7 s1 = "4 ) D(

s1 = 1&2 D ) (

39>


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s2 = "4 )

s2 = 1&2 D )

49>


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A

*oid)ecanu)_relay_re*erse -*oid.

7 1G=0 //ack!ard

1B=1

// sp1=(

2G=1 //ack!ard

2B=0

// sp2=y

3G=0 //ack!ard

3B=1

// sp3=(

4G=1 //ack!ard

4B=0

// sp4=y

sp_relay_nor)al-.

A

*oid)ecanu)_relay_let -*oid.

7

1G=0 //ack!ard

1B=1

// sp1=(

2G=0 //ack!ard

2B=1

// sp2=y

3G=1 //or!ard

3B=0

// sp3=(

4G=1 //or!ard

4B=0


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// sp4=y

sp_relay_nor)al-.

A

*oid)ecanu)_relay_rigt -*oid.

7

1G=1 //or!ard

1B=0

// sp1=(

2G=1 //or!ard

2B=0

// sp2=y

3G=0 //ack!ard

3B=1

// sp3=(

4G=0 //ack!ard

4B=1

// sp4=y

sp_relay_nor)al-.

A


7

1G=1 //or!ard

1B=0

// sp1=(

2G=1 //or!ard

2B=0

// sp2=y

3G=1 //or!ard

3B=0

// sp3=(


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4G=1 //or!ard

4B=0

// sp4=y

sp_relay_nor)al-.A


7

1G=0 //or!ard

1B=1

// sp1=(

2G=0 //or!ard

2B=1

// sp2=y

3G=0 //or!ard

3B=1

// sp3=(

4G=0 //or!ard

4B=1

// sp4=y

sp_relay_nor)al-.

A

*oidsp_relay_nor)al-*oid.

7


7

sp_relay_)a(-.

A

else i-skps-p_s'uare.==0.

7

sp_relay_slo!-.


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A

else

7

sp1=2000 sp2=2000

sp3=2000

sp4=2000

A

A

*oidsp_relay_slo!-*oid.

7

sp1=500

sp2=500

sp3=500

sp4=500

A

*oidsp_relay_)a(-*oid.

7

sp1=2500

sp2=2500

sp3=2500

sp4=2500

A

*oidte)ak-*oid.

7

9+;;


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9+;;

Programming Used 4

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