Header code

In this project, we use 2 header:
        #include <reg52.h>
        #include "PWM_test.c"


For Reg52.h, we use it as a default without edit or customize any code. we also use Reg52.h because we choose AT89S52 as our microchip and we dont want any trouble when we create a code and make the robot working.

For PWM_test.c, we use to control the speed and setup for the operation for DC motor. the code will shown below.

------------------------------------------------------PWM_test.c-----------------------------------------------------

/* Global variables and definition */

/*

Generates Timer interrupt Timer 0 at Osc Freq of 11.0592 MHz

Note: PWM width 255~166

Max time delay is 65.536 ms*/

#include <reg52.h>

unsigned char pwm_width;

bit pwm_flag = 0;

sbit PWM = P1^0;

void pwm_setup(unsigned char Pulse)

{

TMOD = 0;

//pwm_width = 160;

pwm_width = Pulse;

EA = 1;

ET0 = 1;

TR0 = 1;

} 

/* Timer 0 Interrupt service routine */

void timer0() interrupt 1

{

if (!pwm_flag) 

{ /* Start of High level */

pwm_flag = 1; /* Set flag */

PWM = 1; /* PWM set high */

TH0 = pwm_width; /* Load timer */

TF0 = 0; /* Clear interrupt flag */

} 

else 

{ /* Start of Low level */

pwm_flag = 0; /* Clear flag */

PWM = 0; /* Clear PWM pin */

TH0 = 255 - pwm_width; /* Load timer */

TF0 = 0; /* Clear Interrupt flag */

}

}

void pwm_stop()

{

TR0 = 0; /* Disable timer to disable PWM */

}

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