2015年全国大学生电子设计大赛四旋翼飞行器论文

Delay_1ms(3); }

TDR01=0X0BAF; //Lock TDR02=0X0BAF; TDR03=0X07D5; TDR04=0X07D5; Delay_1ms(5000); P5.1=0;

Delay_1ms(2000); P5.1=1;

R_TAU0_Channel0_Stop(); }

void modle2(void) {

R_TAU0_Channel0_Start();

TDR01=0X0BAF; // Unlock TDR02=0X0BAF; TDR03=0X07D5; TDR04=0X0FAA; Delay_1ms(5000);

TDR01=0X0BBF; // Fly TDR02=0X0BAF; TDR04=0X0BAF; for(n=0;n<760;n++) {

TDR03+=0X0001; Delay_1ms(2); }

TDR02=0X0B9F;

TDR01=0X0C4F; // right fly Delay_1ms(1500);

TDR01=0X0A92; Delay_1ms(400); TDR01=0X0B6C;

for(m=0;m<18;m++) // advanc fly {

if(P1.4==0) {

for(n=0;n<3;n++) {

TDR03+=0X0001;

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Delay_1ms(4); }

TDR02=0X0B2F; Delay_1ms(200); } else {

TDR02=0X0B2F; Delay_1ms(200); } }

TDR02=0X0CFF; Delay_1ms(400);

TDR02=0X0C28; //lift fly TDR01=0X0B29; Delay_1ms(2000); TDR01=0X0CEF; Delay_1ms(300); TDR01=0X0B4F;

for(m=0;m<18;m++) // retreat fly {

if(P1.4==0) {

for(n=0;n<3;n++) {

TDR03+=0X0001; Delay_1ms(4); }

TDR02=0X0BFF; Delay_1ms(200); } else {

TDR02=0X0BFF; Delay_1ms(200); } }

TDR02=0X0A9F; Delay_1ms(500);

for(n=0;n<700;n++) //landed {

TDR01=0X0BAF; TDR02=0X0BAF; TDR03-=0X0001;

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Delay_1ms(3); }

TDR01=0X0BAF; //Lock TDR02=0X0BAF; TDR03=0X07D5; TDR04=0X07D5; Delay_1ms(5000);

R_TAU0_Channel0_Stop(); }

/******************************************************************************

void modle3(void) {

************************************************************************* }

******************************************************************************/

/******************************************************************************

void modle4(void) {

************************************************************************* }

******************************************************************************/

void modle5(void) { R_TAU0_Channel0_Start();

TDR01=0X0BBF; // Unlock TDR02=0X0BAF; TDR03=0X07D5; TDR04=0X0FAA; Delay_1ms(5000);

TDR01=0X0BBE; // Fly TDR02=0X0BAF; TDR04=0X0BAF;

for(n=0;n<780;n++) {

TDR03+=0X0001; Delay_1ms(3); }

TDR04=0X0E8F; //XUANTING Delay_1ms(5000); TDR04=0X0BAF;

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for(n=0;n<770;n++) //landed {

TDR02=0X0BAF; TDR03-= 0X0001; Delay_1ms(7); }

TDR01=0X0BAF; //Lock TDR02=0X0BAF; TDR03=0X07D5; TDR04=0X07D5; Delay_1ms(5000);

R_TAU0_Channel0_Stop(); }

void Delay_1ms(unsigned int K)// {

unsigned char i,j; for(;K>0;K--) {

for(j=14; j>0; j--) for(i=250; i>0; i--) ;

for(i=4; i>0; i--); } }

/* End user code. Do not edit comment generated here */

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