ขอโค้ต ที่สามารถทำให้เครื่องทำความสะอาดสระว่ายน้ำวิ่งได้แบบอัตโนมัติ

/*
 * Filename : motor.h
 * Hardware : ET-ROBOT RD2
 *            Controller  -> P89C51RD2FN
 *            XTAL        -> 18.432 MHz
 *            Mode        -> 12 Clock/MC
 * I/O      : P1.4        -> Left  (PWM-CEX1)
 *            P1.5        -> Right (PWM-CEX2)
 * Compiler : Micro-C/51
 * Author   : Supachai Budsaratij
 */

MT_Back() {
    CCAP1H=243;	   //P1.4 
	CCAP2H=230;	   //P1.5 
}

MT_Forward(){
    CCAP1H=230;
	CCAP2H=243;
}

MT_Stop(){
    CCAP1H=0;
	CCAP2H=0;							    
	}
MT_NorLeft() {
	CCAP1H=0;
	CCAP2H=243;
}
MT_NorRight(){
	CCAP1H=230;
	CCAP2H=0;
}
MT_RoLeft() {
	CCAP1H=243;
	CCAP2H=243;
}
MT_RoRight(){
	CCAP1H=230;
	CCAP2H=230;
}
MB_0(){
	CCAP1H=255;
	CCAP2H=255;
}
MB_25(){
	CCAP1H=192;
	CCAP2H=192;
}
MB_50(){
	CCAP1H=128;
	CCAP2H=128;
}
MB_75(){
	CCAP1H=64;
	CCAP2H=64;
}
MB_100(){
	CCAP1H=0;
	CCAP2H=0;
}	 
MTX_init(){
/* Initial Timer0 Generate Overflow PCA */

    TMOD = 0x52;   /* Timer0 Mode2 : 8bit auto reload */
    TH0  = 136;     /* 256-120, 8.125usec Auto-relead (20msec/PWM) */
    TL0  = TH0;
    TCON = 0x50;   /* setb TR0, TCON or 0001,0000*/

/*
    Initial PWM Period  = 20mS (18.432MHz /12-Cycle Mode)
    Initial PCA Count From Timer0 Overflow
    1 Cycle of Timer0 = (1/18.432MHz)x12 = 0.651uS
    Timer0 AutoReload = 120 Cycle = 78.125uS
    1 Cycle PCA = [(1/18.432MHz)x12]x120 = 78.125uS
    Period 20mS of PCA = 20ms/78.125us = 256(CL Reload)
    CL(20mS) = 256 Cycle Auto Reload
    Load CCAPxH(1.0mS) = 256-13 = 243 (243,244,...,255 = 13 Cycle)
    Load CCAPxH(2.0mS) = 255-26 = 230 (230,231,...,255 = 26 Cycle)
*/
    CMOD=0x04;
    CCAPM1=0x42;
    CCAPM2=0x42;
    CCAP1H=0x00;
    CCAP2H=0x00;
    CCON=0x40;
}