说明：  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弓I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TICMP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。
(In the soccer robot system, F2812 two events manager can complete motor control, but failed to take full advantage of its internal resources Use, the robot did not improve function in this use of event manager TxCMP I bow legs, forming an ultrasonic ranging system, temperature measurement system and red Communication outside the modulator: one using I/O functions TICMP and T2CMP composition Ultrasonic Ranging System use of I/O functions T4CMP simulation Sequence composed of temperature measurement system use of high frequency PWM function T3CMP pulse modulated by the SCIATX information form sent out the serial infrared communication System to significantly reduce the external circuit control chip to improve the overall function of the stability of the control system, the motor control and stability in the actual , Fast, real-time requirements.)