最佳备用程序.doc

最佳备用程序 int GP2D12 = 5;//right int GP2D123 = 4;//left int GP2D13 = 3;//qianmian int GP2D14 = 2;//qianmian int GP2D15 = 0;//houmian int USValue ; uint8_t DMcmd[4] = {0x22, 0x00, 0x00, 0x22}; int pwmPin2 = 10; int pwmPin1 = 9; int directionPin1 = 12; int directionPin2 =13; int brakePin1 = 6; int brakePin2 = 7; int SensorINPUT[]={2,3,4,5}; int num_sensor = 4; int modeINPUT=11; int i,j,var, INPUT2, INPUT3, INPUT4,INPUT5,flag1,flag2,flag3,flag4,value,value1,value2,value3,value4,aaa,bbb,k,c,d,num0,num1; float measure,measure1,measure2,measure3,measure4; int flag=1; int fg=1; int flag0=1; int kaiguan=8; void setup() { Serial.begin(9600); pinMode(modeINPUT, INPUT); pinMode(kaiguan, INPUT); pinMode(pwmPin1, OUTPUT); pinMode(pwmPin2, OUTPUT); pinMode(directionPin2, OUTPUT); pinMode(directionPin1, OUTPUT); pinMode(brakePin2,OUTPUT); pinMode(brakePin1, OUTPUT); var = 0x07; //variable with value binary TCCR1B = ~var; //clear TCCR2B bits 0, 1, and 2 var = 1; //variable with value binary TCCR1B |= var; //set TCCR2B to binary for (i = 0; i num_sensor; i++) pinMode(SensorINPUT[i], INPUT); var = 0x07; //variable with value binary TCCR1B = ~var; //clear TCCR2B bits 0, 1, and 2 var = 1; //variable with value binary TCCR1B |= var; //set TCCR2B to01 binary } void loop() { while(flag==1) { digitalWrite(directionPin1, LOW); digitalWrite(directionPin2,LOW); digitalWrite(brakePin1, HIGH); digitalWrite(brakePin2, HIGH); analogWrite(pwmPin1,0); analogWrite(pwmPin2,0); if(digitalRead(kaiguan)==LOW) { delay(50); flag=0; } } while(fg==1) { if(digitalRead(modeINPUT)==LOW)//模式选择 {flag1=1; flag2=0; flag3=1;} else {flag1=0; flag2=1; flag3=0;} fg=0; } while (flag1==1)//开关抬起上坡，后入场 { digitalWrite(directionPin1, HIGH); digitalWrite(directionPin2,HIGH); digitalWrite(brake