基于足球机器人的F2812事件管理器应用设计

在足球机器人系统中，F2812两个事件管理器可以完成对电机的控制，但是其内部资源未能充分利用，机器人功能也没有完善，在此利用事件管理器的TxCMP引脚，分别组成超声波测距系统、测温系统和红外线通信的调制器：其中利用I／O功能的T1CMP和T2CMP组成超声波测距系统；利用I／O功能的T4CMP模拟时序组成测温系统；利用PWM功能的T3CMP产生高频脉冲来调制由SCIATX发送出来的串口信息组成红外线通信系统，以大幅度减少控制芯片的外围电路，提高控制系统整体功能的稳定性，实现电机在实际控制中稳定性，快速性，实时性的要求。

Design and Application of Event Manager of F2812 in Soccer Robot

Aimed at the point of that, the two Event Managers has failure to make full use of it＇ s internal resources when it controls two motors, and there is no perfect enough for the robot, This design adds the Ultrasonic Ranging System, Temperature Measurement Systems, and Infrared Communication Modulator using the Event Managers＇ TxCMP pins. The T1CMP and T2CMP in I / O functions is used for the Ultrasonic Ranging System; The T4CMP in I / O functions is used to analoging the timing for Temperature Measurement System; the T3CMP in PWM function is used for High-frequency Pulse Modulated that consists The Infrared Communication Systems with the SCIA pins. And in this way, the circuits around the Microprocessor will be sharly deminished so as to improve the stability of the control system and make the motors run more stably, more fleetly .