void PIDmotor()
{
s16 var=0;
u8 servo_rela_speed =xielv1; //电机速度受角度的限制
double K_servo_rela_speed=0.1;//？？？待测 斜率影响电机速度
speed = LPTMR0_CNR;// 改动
var=IncPIDCalc(speed);
uiGoalvalue1 += var;
if((uiGoalvalue1>=0)&&(uiGoalvalue1<=900))
{
GOON();
if(motorfirst_flag==0)
{
if(uiGoalvalue1>500)
{
FTM_PWM_Duty(FTM0,CH0,uiGoalvalue1);
delayms(500);
motorfirst_flag=1;
}
}
if(motorfirst_flag==1)
FTM_PWM_Duty(FTM0,CH0,uiGoalvalue1);
}
else if(uiGoalvalue1>900)
{
GOON();
uiGoalvalue1=900;
}
else if(uiGoalvalue1<0)
{
uiGoalvalue1=0;
//shache();
//FTM_PWM_Duty(FTM0,CH0,300);
}
else
{
//uiGoalvalue1=300;//printf("\n****是负值*****\r\n\n");
}
if( iError<=-30)
{
shache();
FTM_PWM_Duty(FTM0,CH0,900);
}
}
void main()
{
uchar shujv[8];
uchar stop=0;
uchar cejv=1;
uchar flag=0;
uchar helpcejv=0;
init_io();
led0=1;led1=1;ledk=1;
while(NRF_Check())
{
led0=0;
delayms(1000);
led0=1;
delayms(1000);
}
TX_Mode(); //设置为发送模式
/*************自己加的***********************/
while(CNRF_Check()) //检查nrf是否存在
{
led0=0;
delayms(1000);
led0=1;
delayms(1000);
}
CTX_Mode();
/*************自己加的***********************/
stop=byte_read(0x2000); //读取上一次保留的值
while(1)
{
wenshi(shujv); //写入前4个数据
// yali(shujv);//写入第5个数据
// shache(shujv);//写入第六个数据
Get_weight();
if (weight_shiwu/1000<=5)
shujv[4]='0';
else shujv[4]='1';
if(stop==0)
shujv[5]='1';
if(stop==1)
shujv[5]='0';
if(out==0)
shujv[6]='1';
else
shujv[6]='0';
//////////////////////////////
if(NRF24L01_TxPacket(shujv)==TX_OK)
{
led1=0;
delayms(300);
led1=1;
delayms(10);
/////
flag=1;
}
else flag=0;
//////////////////////////////
if(flag==1)
{
if(CNRF24L01_TxPacket(shujv)==TX_OK)
{
led3=0;
delayms(300);
led3=1;
delayms(10);
cejv=0;
helpcejv=0;
}
else
{
helpcejv++;
delayms(100);
if(helpcejv>2)
{ led2=0;
delayms(300);
led2=1;
delayms(10);
cejv=0;
helpcejv=0;
}
}
/////////////////////////////////////////////////
if(shache(cejv,stop)==1)
{
led0=0;
delayms(300);
led0=1;
delayms(10);
stop=1;
SectorErase(0x2000);
byte_write(0x2000,stop);
}
if(checkbutton(cejv,stop)==0)
{stop=1;
SectorErase(0x2000);
byte_write(0x2000,stop);
}
}
}
}
