Description: 全国大学生飞思卡尔智能车比赛 电磁组原程序 整个系统的核心控制采用Freescale的MC9S12XS128型号16位单片机，5V电压供电。 软件运行需要配置单片机各个模块寄存器数值，使单片机各个模块正常工作。初始化中包括：单片机时钟配置、I/O口配置、PWM模块配置、A/D模块配置、RTI实时中断配置、脉冲捕捉模块配置。当初始化完毕后，开始对传感器输入信号进行采样，当完成一次采样后将采样值输入控制算法，控制算法经过运算得到应该偏转的角度和速度，通过改变PWM模块内部寄存器数值可以得到不同占空比的方波信号，实现对舵机和电机的调节。使用CodeWarrior Development Studio for HCS12(X) V4.7作为程序编写、编译、下载、调试工具。-The core of the whole system of the original program of the National Students Freescale Smart Car Competition electromagnetic group control using Freescale s
MC9S12XS128 Model 16-bit microcontroller, 5V supply. The software runs need to configure the MCU module register values
Microcontroller module work properly. Initialization, including: the configuration of the microcontroller clock, I/O port configuration, the PWM module configuration, the A/D
Module configuration, RTI Real-time interrupt configuration, the pulse capture module configuration. When the initialization has been completed, the sensor input signal.
Sampling line, complete a sampling will sample the value of input control algorithms, control algorithms after the operation should be the angle of deflection
Of the servo and motor speed, by changing the PWM module internal register values can be different duty cycle square wave signal, to achieve
Regulation. Using the CodeWarrior Development, Studio for Platform: |
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