case 1:CH1=1;ds=64535-4*rx[0];TL0=ds;TH0=ds>>8; CH1=0;TL0=0x2f;TH0=0xf8;break;
//固定1ms加0到1ms高电平,2ms低电平
case 2:CH2=1;ds=64535-4*rx[1];TL0=ds;TH0=ds>>8; CH2=0;TL0=0x2f;TH0=0xf8;break;
case 3:CH3=1;ds=64535-4*rx[2];TL0=ds;TH0=ds>>8; CH3=0;TL0=0x2f;TH0=0xf8;break;
case 4:CH4=1;ds=64535-4*rx[3];TL0=ds;TH0=ds>>8; CH4=0;TL0=0x2f;TH0=0xf8;break;
case 5:CH5=1;ds=64535-4*rx[4];TL0=ds;TH0=ds>>8; CH5=0;TL0=0x2f;TH0=0xf8;break;
case 6:CH6=1;ds=64535-4*rx[5];TL0=ds;TH0=ds>>8; CH6=0;TL0=0x2f;TH0=0xf8;
n=0;break;
}
n++;
switch(n) //通道输出
{
case 1:CH1=1,delay1ms(),delay(r),CH1=0;break; //1ms固定高电平
case 2:CH2=1,delay1ms(),delay(rx[1]),CH2=0;break; //1ms高电平对应最左端
case 3:CH3=1,delay1ms(),delay(rx[2]),CH3=0;break; //1.5ms高电平对应舵机中点
case 4:break;//CH4=1,delay1ms(),delay(rx[3]),CH4=0; //2ms高电平对应舵机最右端
case 5:CH5=1,delay1ms(),delay(rx[4]),CH5=0;break; //实际控制取1至2ms
case 6:CH6=1,delay1ms(),delay(rx[5]),CH6=0; //256级*4us为1024约1ms
n=0;break;
}