C++ (Cpp) LPLD_FTM0_PWM_ChangeDuty Beispiele

Beispiel #1

Datei: control.c Projekt: ShangxuanWu/RoboCup

void do_stop(void)
{
  LPLD_FTM0_PWM_ChangeDuty(7,0);
  LPLD_FTM0_PWM_ChangeDuty(6,0);
  LPLD_FTM0_PWM_ChangeDuty(5,0);
  LPLD_FTM0_PWM_ChangeDuty(4,0);
  control_call_callback(C_STOP, E_FINISHED);
  can_interrupt = 1;
}

Beispiel #2

Datei: control.c Projekt: ShangxuanWu/RoboCup

void right_set_v(int v)
{
  if(v>=0)
  {
    LPLD_FTM0_PWM_ChangeDuty(7,v);
    LPLD_FTM0_PWM_ChangeDuty(6,0);
  }
  else
  {
    LPLD_FTM0_PWM_ChangeDuty(7,0);
    LPLD_FTM0_PWM_ChangeDuty(6,-v);
  }
}

Beispiel #3

Datei: control.c Projekt: ShangxuanWu/RoboCup

void left_set_v(int v)
{
  if(v>=0)
  {
    LPLD_FTM0_PWM_ChangeDuty(4,v);
    LPLD_FTM0_PWM_ChangeDuty(5,0);
  }
  else
  {
    LPLD_FTM0_PWM_ChangeDuty(4,0);
    LPLD_FTM0_PWM_ChangeDuty(5,-v);
  }
}

Beispiel #4

Datei: isr.c Projekt: abba18/Freescale-car-for-photoelectricity

void PIT1_IRQHandler(void)
{
   //PIT_Flag_Clear(PIT1);       //清中断标志位
PIT_BASE_PTR->CHANNEL[PIT1].TFLG |= PIT_TFLG_TIF_MASK;
  
  static uint8 TimerCntccd = 0;
  static uint8 TimerCntSpeed = 0;
  static uint8 TimerCntservo = 0;
  static uint16 stopcount = 0;
  static uint16 display_count = 0;
  static uint16 Miter_count = 0;
  uint8 integration_piont;

  TimerCntccd++;
  TimerCntSpeed++;
  TimerCntservo++;
  
   /* 根据曝光时间计算20ms周期内的曝光点*/
  integration_piont = CCDtime - IntegrationTime; 
  if(integration_piont >= 2) {      /* 曝光时间小于2则不进行再曝光 */
   /*  */  if(integration_piont == TimerCntccd)
     StartIntegration();          ///曝光开始
  }
  
 
  if(TimerCntccd >= CCDtime) {
    TimerCntccd = 0;
    CCDtime_flag = 1;
  }
  if(TimerCntSpeed >=Speedtime)
  {
    TimerCntSpeed = 0;
    Speedtime_flag = 1;
  }
  if(TimerCntservo >= Servotime)
  {
    TimerCntservo = 0;
    Servotime_flag = 1;
  }
  if(Startflag)
  {
    Starttime++;
    if(Starttime>=1500)
    {
      Startflag = 0;
      Miter_count = 1;
    }
  }
  if(Miter_count>0 && Enable_Miter)
  {
    if(++Miter_count>Miter_time)
    {
      Miter_count = 0;
      Miter_flag = 1;
    }
  }
  if(Delayflag)
  {
    if(++Delaycount>70)
    {
      Delaycount = 0;
      Delayflag = 0;
    }
  }
  if(Stop_flag)
  {
    if(++stopcount>50)
    {
      Speed_Out = 0;
      Speed_PWM = 0;
      stopcount = 0;
      LPLD_FTM0_PWM_ChangeDuty(2,Speed_PWM);
      LPLD_FTM0_PWM_ChangeDuty(1,Speed_PWM);
      LCD_clear();
      LCD_Display_String(0,0,"Stop!");
      LCD_Display_String(0,1,"offset=");
      LCD_Display_Num(notch_offset);
      LCD_Display_String(0,2,"whiteavg=");
      //LCD_Display_Num(whiteavg);
      LCD_Display_String(0,3,"Kp=");
      LCD_Display_Num(Kp);
      LCD_Display_String(0,4,"Kd=");
      LCD_Display_Num(Kd);
      LCD_Display_String(0,5,"Speed_temp");
      LCD_Display_Num(Speed_temp);
    }
  }
  if(Collide_flag)
  {
    Speed_Out = 0;
    Speed_PWM = 0;
    LPLD_FTM0_PWM_ChangeDuty(2,Speed_PWM);
    LPLD_FTM0_PWM_ChangeDuty(1,Speed_PWM);
    if(++display_count>40)
    {
      display_count = 0;
      LPLD_FTM0_PWM_ChangeDuty(2,0);
      LPLD_FTM0_PWM_ChangeDuty(1,0);
      LCD_clear();
      LCD_Display_String(0,0,"Boom!");
      LCD_Display_String(0,1,"offset=");
      LCD_Display_Num(notch_offset);
      LCD_Display_String(0,2,"whiteavg=");
      //LCD_Display_Num(whiteavg);
      LCD_Display_String(0,3,"Kp=");
      LCD_Display_Num(Kp);
      LCD_Display_String(0,4,"Kd=");
      LCD_Display_Num(Kd);
      LCD_Display_String(0,5,"Speed_temp");
      LCD_Display_Num(Speed_temp);
    }
  }
}