#include <REG_MG86FL508.h>
#include <stdlib.h>
#define SerMor1 P34  //door
#define SerMor2 P35  //hand

void delay(short);
void MOR_init(void);
void Open(void); //開門
void Close(void); //關門
void TouchSW(void); //伸手關開關
void HandHome(void); //手回原點(盒子內)

//unsigned int dutytime = 45536; //65536-45536 = 20ms
unsigned int ton = 1500; //高電位1.5ms
unsigned int toff = 18500; //低電位18.5ms
unsigned int temp; //計時器工作用
unsigned char x=30,y=0,C=30; //x:PWM次數  y:選擇馬達
bit O=0; //開門旗標

void timer0_initialize(void) 
{
  SerMor1=0;
	SerMor2=0;
	EA=0; 
    IE|=0x02; 
    TMOD|=0x01; 
    temp=65536-ton; 
    TH0=temp/256; 
    TL0=temp%256; 
   // TR0=1; 
    EA=1; 
}
void timer0_isr(void) interrupt 1 using 1 //PWM TR0
{
   if(x<C)
	 {		 
		 x++;
		 switch(y)
		 {
			 case 0:
				 if(SerMor1==1)
					{
						TR0=0;
						temp=65536-toff;
						TH0=temp/256;
						TL0=temp%256;
						TR0=1;
						SerMor1 = 0;
					}
					else
					{
						TR0=0;
						temp=65536-ton;
						TH0=temp/256;
						TL0=temp%256;
						TR0=1;
						SerMor1 = 1;
					}
				break;
					
			 case 1:
				 if(SerMor2==1)
					{
						TR0=0;
						temp=65536-toff;
						TH0=temp/256;
						TL0=temp%256;
						TR0=1;
						SerMor2 = 0;
					}
					else
					{
						TR0=0;
						temp=65536-ton;
						TH0=temp/256;
						TL0=temp%256;
						TR0=1;
						SerMor2 = 1;
					}
				 break;
				} //switch
			} //if
		else
		{
			TR0=0;
			//x=0;
			SerMor1=0;
			SerMor2=0;
		}
}

main(void)
{
	P3M0=0x00;
	P3M1=0xff;
  P1M0=0xff;	
	timer0_initialize();
	MOR_init();
  /*while(1)
		{
			
			if(P10==0) {ton=2400; x=0; TR0=1;}  //2.2ms 
			if(P11==0) {ton=1500; x=0; TR0=1;} //1.5ms 
			if(P12==0) {ton=700; x=0; TR0=1;}  //0.9ms 
			toff=20000-ton;
			while(x<30);
		}*/
		while(1)
		{
			if(P33==0)
			{
				switch(0)
				{
					case 0:
						P14=0;
						delay(2000);
						P14=1;
						Open(); //開門
						delay(1000);
						TouchSW(); //伸手關開關					
						delay(200);
						HandHome();					
						delay(1000);
						Close(); //關門
						break;
						
					case 1:
						
					case 2:
						break;
				}
			}
		}

	
}

void delay(short t){
	short i, j;
	
	for(i = 0; i < t; ++i)
		for(j = 0; j < 1000; ++j);
}

void Open(void) //開門
{
	y=0;
	ton=2000;
	toff=20000-ton;
	C=120;	
	x=0; 
	TR0=1;
	while(x<C);
	C=30;
	O=1;
}

void Close(void) //關門
{
	y=0;
	ton=1000; 
	toff=20000-ton;	
	x=0; 
	TR0=1;
	while(x<C);
	O=0;	
	
}

void TouchSW(void) //伸手關開關
{
	if(O==1)
	{
	y=1;
	ton=710; 
	toff=20000-ton;
	C=90;
	x=0; 
	TR0=1;
	while(x<C);
	C=30;		
	}
}

void HandHome(void) //手回原點(盒子內)
{
	if(O==1)
	{
	y=1;
	ton=2000; 
	toff=20000-ton;	
	x=0; 
	TR0=1;
	while(x<C);
	}
	else
	{
		Open();
		HandHome();
	}
	
}

void MOR_init(void)
{
		y=0;
	ton=2000;
	toff=20000-ton;
	C=90;
	x=0; 
	TR0=1;
	while(x<C);
	C=30;
	//
		y=1;
	ton=2000; 
	toff=20000-ton;
	C=120;
	x=0; 
	TR0=1;
	while(x<C);
	C=30;
	//
		y=0;
	ton=1000; 
	toff=20000-ton;	
	x=0; 
	TR0=1;
	while(x<C);
	O=0;	
	
}