[工学]第九届机器人大赛培训.pptVIP

/****************停车********************/ void Stop(uchar speed_left,uchar speed_right) { LEFT_IN1 = 0; LEFT_IN2 = 0; RIGHT_IN1 = 0; RIGHT_IN2 = 0; LEFT_PWM_DUTY = speed_left; RIGHT_PWM_DUTY = speed_right; } /*************前进****************/ void GoHead(uchar speed_left,uchar speed_right) { LEFT_IN1 = 1; LEFT_IN2 = 0; RIGHT_IN1 = 1; RIGHT_IN2 = 0; LEFT_PWM_DUTY = speed_left; RIGHT_PWM_DUTY = speed_right*5/4;//走直线占空比校正 } /*************后退***************/ void GoBack(uchar speed_left,uchar speed_right) { LEFT_IN1 = 0; LEFT_IN2 = 1; RIGHT_IN1 = 0; RIGHT_IN2 = 1; LEFT_PWM_