2016金属物体探测定位器（B题含代码）报告(7)

#define X TA2CCR1 //X轴电机速度 #define Y TA2CCR2 //Y轴电机速度

void timer_Init(); #endif

timer.c文件：

#include \

void timer_Init() {

TA2CTL =0;

TA2CTL|=TASSEL__SMCLK+MC__UP+ID__1+TACLR; //SMCLK,continuous

TA2CCR0=8000; //设置PWM波周期 TA2CCTL0|=OUTMOD_7;

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X=0; //设置X轴电机PWM波占空比 TA2CCTL1|=OUTMOD_7;

Y=0; //设置Y轴电机PWM波占空比 TA2CCTL2|=OUTMOD_7; P2DIR|=BIT4+BIT5;

P2SEL|=BIT4+BIT5; }

deal.h头文件：

#include \#include \#include \#include \#ifndef DEAL_H #define DEAL_H

#define IN1_0 P3OUT&=~BIT0 #define IN1_1 P3OUT|=BIT0

#define IN2_0 P3OUT&=~BIT1 #define IN2_1 P3OUT|=BIT1

#define IN3_0 P3OUT&=~BIT2

//TA2.2 //P3.0 IN1 //P3.1 IN2 //P3.2 IN3

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#define IN3_1 P3OUT|=BIT2

#define IN4_0 P3OUT&=~BIT3 //P3.3 IN4 #define IN4_1 P3OUT|=BIT3

extern int Low,High,init,get; //extern int High; //extern int init; //extern int J;

void Sdeal(void); //surrounding deal void Tdeal(void); //target deal void Edeal(void); //environment deal void set_direction(char z,int d); void init_location(); void scan(); #endif

deal.c文件： #include \#include \

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int Low,High,init,Js,Jt,Je,get=0; //J:judge void set_direction(char z,int d) // {

switch(z) {

case 'X':if(d==1){IN1_1;IN2_0;}else{IN1_0;IN2_1;}break; case 'Y':if(d==1){IN3_1;IN4_0;}else{IN3_0;IN4_1;}break; } }

//初始化位置 void init_location() {

set_direction('Y',0); //X=8000; Y=8000; for(;;) {

if(Y==0) break; else Sdeal();

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} }

void scan() {

X=6000; for(;;) {

if(X==0) break; else { Sdeal(); Tdeal(); } } }

//surrounding deal void Sdeal() { int i,a;

spi_readBytes(PROXLSB,&p[0],2);

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