51单片机结合NRF24L01对舵机进行无线控制

interrupt 1 { if(flag_0==1) PWM_Value[0]+=1;if(flag_0==2) PWM_Value[0]-=1;if(flag_1==1) PWM_Value[1]+=1;if(flag_1==2) PWM_Value[1]-=1;if(PWM_Value[0]>=2500)PWM_Value[0]=2500;if(PWM_Value[1]>=2500)PWM_Value[1]=2500;if(PWM_Value[0]<=500)PWM_Value[0]=500;if(PWM_Value[1]<=500)PWM_Value[1]=500;switch(order){case 1:PWM_OUT0=1;TH0=(65536-PWM_Value[0])>>8;TL0=(uchar)(65536-PWM_Value[0]);break; case 2:PWM_OUT0=0;TH0=(65536-(5000-PWM_Value[0]))>>8;TL0=(uchar)(65536-(5000-PWM_Value[0]));break; case 3:PWM_OUT1=1;TH0=(65536-PWM_Value[1])>>8;TL0=(uchar)(65536-PWM_Value[1]);break;case 4:PWM_OUT1=0;TH0=(65536-(5000-PWM_Value[1]))>>8;TL0=(uchar)(65536-(5000-PWM_Value[1]));break;case 5:TH0=60536>>8;TL0=(uchar)60536;break;case 6:TH0=60536>>8;TL0=(uchar)60536;order=0;break;default: order=0;break;}order++;}