#include "STC15F2K60S2.h"
#include
#define uchar unsigned char
#define uint unsigned int
/**************函数声明****************/
void Adjust(void);
void Timer0_Init(void);
void delay(unsigned int ms);
void direction();
/***************定义使用的I/O管脚*****************/
//模块信号输入端口
sbit IN_1=P0^0;
sbit IN_2=P0^1;
sbit IN_3=P0^2;
sbit IN_4=P0^3;
sbit east= P0^4;
sbit south= P0^5;
sbit western= P0^6;
sbit north= P0^7;
//PWM输出
sbit PWM=P4^1;
sbit PWM2=P4^2;
//选择信号
uchar pwm_flag=0;
//定时器初值
uint code low_ms=461; //0.5ms 舵机0度对应占空比 11.0592Mhz
uint code high_ms=9216; //10ms
uint pwm[]={1382,1382}; //1.5ms,舵机1和舵机2处于90度位郑50%占空比