如何使用两个 IO+两路 PWM 来控制两个轮子的正反向 - 智能车制作

#include "reg51.h"
#include "intrins.h"
#define FOSC 11059200L
typedef unsigned char BYTE;
typedef unsigned int WORD;
/*Declare SFR associated with the PCA */
sfr CCON = 0xD8; //PCA control register
sbit CCF0 = CCON^0; //PCA module-0 interrupt flag
sbit CCF1 = CCON^1; //PCA module-1 interrupt flag
sbit CR = CCON^6; //PCA timer run control bit
sbit CF = CCON^7; //PCA timer overflow flag
sfr CMOD = 0xD9; //PCA mode register
sfr CL = 0xE9; //PCA base timer LOW
sfr CH = 0xF9; //PCA base timer HIGH
sfr CCAPM0 = 0xDA; //PCA module-0 mode register
sfr CCAP0L = 0xEA; //PCA module-0 capture register LOW
sfr CCAP0H = 0xFA; //PCA module-0 capture register HIGH
sfr CCAPM1 = 0xDB; //PCA module-1 mode register
sfr CCAP1L = 0xEB; //PCA module-1 capture register LOW
sfr CCAP1H = 0xFB; //PCA module-1 capture register HIGH
sfr PCAPWM0 = 0xf2;
sfr PCAPWM1 = 0xf3;
void Delay100ms() //@11.0592MHz
{
unsigned char i, j, k;
_nop_();
_nop_();
i = 5;
j = 52;
k = 195;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
void main()
{
EA=1; //使能总中断
TMOD=0x01; //设置T0为模式1
TH0=(65536-1000)/256; //为T0赋值，定时1ms
TL0=(65536-1000)%256;
TR0=1; //启动T0
ET0=1; //使能T0中断
CCON=0; //初始PCA
CL=0; //重置PCA
CH=0;
CMOD=0x0a; //将PCA定时器时钟源设置为Fosc/4
CCAP0H=CCAP0L=0x80; //PCA0占空比为50%
CCAP1H=CCAP1L=0xff; //PCA1占空比为0%
CCAPM0=0x42; //PCA模块0工作在8位PWM模式，没有PCA中断
CCAPM1=0x42; //PCA模块1工作在8位PWM模式，没有PCA中断
CR=1; //PCA定时器开始运行
while(1);
}
void Timer0()interrupt 1
{
unsigned long cnt; //计数变量cnt
bit dir; //方向变量dir
TH0=(65536-1000)/256; //定时器重新赋值
TL0=(65536-1000)%256;
cnt++;
if(cnt>=10000) //10s计时
{
cnt=0; //cnt归零
if(dir==0) //dir=0时
{
CCAP0H=CCAP0L=0xff; //PCA0占空比为0%
Delay100ms();
CCAP1H=CCAP1L=0x80; //PCA1占空比为50%
}
else //dir=1时
{
CCAP1H=CCAP1L=0xff; //PCA1占空比为0%
Delay100ms();
CCAP0H=CCAP0L=0x80; //PCA0占空比为50%
}
dir=~dir; //改变方向
}
}

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