avr空手动机器人源程序.docVIP

#include mega16.h #include delay.h #define uint unsigned int #define uchar unsigned char volatile uint keys; int j=100; // ///延时子函数/// void delayms(uint z) //1ms左右 { uint x,y; for(x=0;xz;x++) for(y=0;y1141;y++); } ///端口初始化/// void init_io(void) { DDRD=0xFE; PORTD=0x03; DDRC=0x0F; //行为输出，列为输入 PORTC=0xF0; //列值为高，行值为低 DDRB=0XFB; //控制伸缩和升降 PORTB=0X04; //PB.3为控制升降PWM DDRA=0xFF; //0.1.控制手臂 PORTA=0x00; TCCR1A=0xA1; TCCR1B=0x01; OCR1A=10; /*伸缩PWM设置*/ TCCR2=0X61; //PWM相位修正，64分频 OCR2=70; // /*升降PWM设置*/