Arduino驱动的遥控车程序指南

#include <PS2X_lib.h>  //for v1.6
#include<avr/io.h>
#include <Servo.h> 
#include<util/delay.h>



/*******************************************
 * PORTC0 PORTC1 PORTD2 PORTD4 are for MOTO Control
 *******************************************/
 #define MOTOJ_PIN1_1 PORTD|=_BV(PORTD5)         /*正转*///电机1
#define MOTOJ_PIN1_0 PORTD&=~_BV(PORTD5) 
#define MOTOI_PIN1_1 PORTD|=_BV(PORTD7)         /*正转*/
#define MOTOI_PIN1_0 PORTD&=~_BV(PORTD7)
#define MOTOA_PIN1_1 PORTB|=_BV(PORTB0)         /*正转*///电机2
#define MOTOA_PIN1_0 PORTB&=~_BV(PORTB0) 
#define MOTOB_PIN1_1 PORTD|=_BV(PORTD6)         /*正转*/
#define MOTOB_PIN1_0 PORTD&=~_BV(PORTD6)
#define MOTO1_PIN1_1 PORTB|=_BV(PORTB1)         /*正转*///电机5
#define MOTO1_PIN1_0 PORTB&=~_BV(PORTB1) 
#define MOTO4_PIN1_1 PORTD|=_BV(PORTD4)         /*正转*/
#define MOTO4_PIN1_0 PORTD&=~_BV(PORTD4)
#define  motor_6_forward  {PORTD |= _BV(PORTD1);\
                            PORTD &= ~(_BV(PORTD0));\
                           }
#define  motor_6_reversal  {PORTD |= _BV(PORTD0);\
                            PORTD &= ~(_BV(PORTD1));\
                           }
 #define  motor_6_stop  PORTD &= ~(_BV(PORTD1)|_BV(PORTD0))
 

 
#define  motor_3_forward  {PORTC |= _BV(PORTC4);\
                            PORTC &= ~(_BV(PORTC5));\
                           }
#define  motor_3_reversal  {PORTC |= _BV(PORTC5);\
                            PORTC &= ~(_BV(PORTC4));\
                           }
                           
#define  motor_3_stop  PORTC &= ~(_BV(PORTC4)|_BV(PORTC5))


#define  motor_4_forward  {PORTC |= _BV(PORTC2);\
                            PORTC &= ~(_BV(PORTC3));\
                           }
#define  motor_4_reversal  {PORTC |= _BV(PORTC3);\
                            PORTC &= ~(_BV(PORTC2));\
                           }
                           
#define  motor_4_stop  PORTC &= ~(_BV(PORTC2)|_BV(PORTC3))
#define  motor_7_forward  {PORTC |= _BV(PORTC0);\
                            PORTC &= ~(_BV(PORTC1));\
                           }
#define  motor_7_reversal  {PORTC |= _BV(PORTC1);\
                            PORTC &= ~(_BV(PORTC0));\
                           }
                           
#define  motor_7_stop  PORTC &= ~(_BV(PORTC0)|_BV(PORTC1))

/*********************************************
 * DIRECTION Flag      方向