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#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*/ TCCR0=0X61; //PWM相位修正，64分频 } void usart0_init() //USART初始化 { UCSRB=0X00; UCSRA=0x02; UCSRB=0x98; UCSRC=0x86; UBRRH=0x00; UBRRL=0x67; } void uart0_send(unsigned char i) { while(!(UCSRA0X20)); UDR=i; } void dog_init(void) { WDTCR=0x18; WDTCR=0x08; } //4x4矩阵键盘扫描函数// uint key_scan(void) { uchar k; uint key=0; for(k=0;k4;k++) { DDRC=1k; delayms(20); key=(key4)+(PINC4); } return(key); } /*void pwm_hand(uint k) { OCR1A=255*k/10; } */ /*//升降PWM设置/// void tiaosu(uint j) { OCR0=j; //delayms(100); }*/ ///升降加速/// void jia(void) { if(j=230) j=240; } ///升降减速/// void jian(void) { if(j=10) j=5; } //操作升降和伸缩// void manage(void) { uchar pb2; pb2=PINB.2; keys=key_scan(); switch(keys) { case 0xF7FF: {dog_init();delayms(30);} break; //9 按键看门狗复位 case 0xFdFF: {uart0_send(0X55);}break; //10 摇杆看门狗复位 case 0xffef: {uart0_send(0x13);}break; //6 加速 case 0xFFdF: {uart0_send(0x31);}break; //7 减速 // case 0xFbFF: {PORTB.2=0;}break; ///macro,现关闭 //case 0xFFFD: {uart0_send(0x12);}break; //左 case 0xbbff: {PORTB.4=1;PORTB.5=0;}break; case 0x7FFF: {PORTB.0=1;PORTB.1=0;OCR0=j;} break; //1,上升 case 0xdFFF: {PORTB.0=0;PORTB.1=1;OCR0=j;} break; //3,下降 case 0xbfff: {if(pb2==1){PORTB.4=0;PORTB.5=0