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Tym o t o r _ P W M ( ) RP W M `SzzkQ Spee (ue ԏVe / * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * / v o i d m o t o r _ P W M ( ) { u c h a r P W M _ a b s 1 ; u c h a r P W M _ a b s 2 ;
P W M _ a b s 1 = M O T O _ s p e e d 1 ; P W M _ a b s 2 = M O T O _ s p e e d 2 ;
i f ( P W M _ a b s 1 > P W M A n d ) E N A = 1 ; / / ]5u:g`SzzkQ e l s e E N A = 0 ; i f ( P W M _ a b s 2 > P W M A n d ) E N B = 1 ; / / S5u:g`SzzkQ e l s e E N B = 0 ; i f ( P W M A n d > = P W M _ C O U S T ) P W M A n d = 0 ; / / P W M pen e l s e P W M A n d + = 1 ; }
/ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
Tyv o i d T I M E _ I n i t ( ) R[ehV RYS cN (ue ԏVe / * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * / v o i d T I M E _ I n i t ( ) { / / = = = = = = = = = [ehVT 2 RYS P W M = = = = = = = = = = = = = = = = = = T 2 C O N = 0 x 0 0 ; T 2 M O D = 0 x 0 0 ; R C A P 2 H = 0 x f f ; / / [e0 . 1 m s R C A P 2 L = 0 x 4 7 ; T H 2 = 0 x f f ; T L 2 = 0 x 4 7 ; E T 2 = 1 ; / / [ehV2 -Ne _ T R 2 = 1 ; / / P W M [ehVsQ P W M hT g:N1 0 m s }
/ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
Tyv o i d P W M _ T i m e 2 ( ) i n t e r r u p t 5 RT 2 -Ne P W M c6R Spe (um o t o r _ P W M ( ) ; / / P W M `SzzkQ ԏV / * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * / v o i d P W M _ T i m e 2 ( ) i n t e r r u p t 5 { T R 2 = 0 ; T F 2 = 0 ; E T 2 = 0 ; / / [ehV0 -Neybk
m o t o r _ P W M ( ) ; / / P W M `SzzkQ
E T 2 = 1 ; / / [e-Ne0 _/T T R 2 = 1 ; }
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