巡线小车源程序(MSP430-PID)(共7页).doc

巡线小车源程序（MSP430，PID）首先是各种宏定义的头文件cpp1 myhead.h 2 #ifndef xxxx_xxx 3 #define xxxx_xxx 4 #define P 43 5 #define I 0.01 6 #define D 100 7 #define LeftMotorTurnNeg P3OUT|=BIT0;P3OUT&=BIT1; 8 #define LeftMotorTurnPos P3OUT&=BIT0;P3OUT|=BIT1; 9 #define RightMotorTurnNeg P3OUT|=BIT3;P3OUT&=BIT2; 10 #define RightMotorTurnPos P3OUT&=BIT3;P3OUT|=BIT2; 11 #define LeftPwmOut TACCR1 12 #define RightPwmOut TACCR2 13 #define F 10