roboforum.ru

sfrb SREG=0x3f;
sfrb OCR3AL=0x86;
sfrb OCR3AH=0x87;
sfrw OCR3A=0x86;

void motor1_set_pwm(signed char m1)
 { 
  unsigned char m1_set_pwm;
  m1_set_pwm=(m1*255/100);
  PWM_1=m1_set_pwm;
 }

void servo (signed char servo, signed char pos)
{
int position;
if ((servo&&pos)==0)
{
servo_off();
return;
}
else if(SERV==OFF){servo_on();}
if (servo>8){servo=8;}
if (servo<1){servo=1;}
if (pos>85){pos=85;}
if (pos<-85){pos=-85;}
position = ((5,55*pos+1500)*2);
servo_position[servo]=position;
}

signed char get_servo_position (char servo)
{
signed char position;
position=(((servo_position[servo]/2)-1500)/5,55);
return position;
}

signed char distance(char adc)
{
signed char r;
if(adc==0){return 0;}
r=(2000/(adc+2)-7);
return r;