说明: 很好的程序void GetMotorPulse(void) //获取电机速度,并积分; { MotorPulse_R = -(short)FTM1_CNT; MotorPulse_L = (short)FTM2_CNT; FTM1_CNT= 0; FTM2_CNT= 0; //电机脉冲信号 CarSpeed = (MotorPulse_L + MotorPulse_R) / 2; MotorPulse_L = 0; MotorPulse_R = 0; CarSpeed *= CAR_SPEED
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