（最终版）(1) - 图文(9)

}

}

Sendstring(\ \Sendstring(\ \Sendstring(\Put_Ser_Dis(Gyro_x); Sendstring(\Sendstring(\Put_Ser_Dis(PWM); Sendstring(\Senddata(0x0d); Senddata(0x0a);

Put_Ser_Dis(Angle_ay);

//******定时器中断************* void Timer0Interrupt(void) interrupt 1 {

TH0 = 0x0B1; TL0 = 0x0E0;

speed_mr = speed_ml = 0; }

//********左电机中断*********************** void INT_L(void) interrupt 0 {

if(RA == 1) { speed_ml++; } else }

//********右电机中断***********************

void INT_R(void) interrupt 2 {

if(RB == 1) { speed_mr++; } else }

//右电机前进

//右电机后退

{ speed_mr--; }

//左电机前进 //左电机后退

{ speed_ml--; }

K_angle_AD=AD_work(0)/6.0; K_angle_dot_AD=AD_work(1)/6.0; K_position_AD=AD_work(6)/6.0; K_position_dot_AD=AD_work(7)/6.0;

//add your code here!

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