📄 pheng.lst
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67 3 {
68 4 //////////////////////////////////////////////////////////////////////后退循迹程序段
69 4
70 4 /* if(p2_0==1)
71 4 { if(p2_0==1&&p2_1==1)
72 4 { brightrun();
73 4 }
74 4 else if(p2_0==1&&p2_1==0&&p2_2==0)
75 4 { brightrun();
76 4 }
77 4 }
78 4 else if(p2_2==1)
79 4 { if(p2_2==1&&p2_1==1)
80 4 { bleftrun();
81 4 }
82 4 else if(p2_0==0&&p2_1==0&&p2_2==1)
83 4 { bleftrun();
84 4 }
85 4 }
86 4 else if(p2_1==1)
87 4 backrun();
88 4 else */backrun();
89 4 /////////////////////////////////////////////////////////////////////////////
90 4
91 4 if(wt==1||cs>=3)//若打开微调或当跷跷板翻滚次数达到3以上则调小步进
C51 COMPILER V7.07 PHENG 08/02/2009 10:12:42 PAGE 4
*** ERROR C202 IN LINE 91 OF PHENG.C: 'wt': undefined identifier
92 4 {
93 5 if(bf!=400)
*** ERROR C202 IN LINE 93 OF PHENG.C: 'bf': undefined identifier
94 5 bf=400;//首次调小步进
*** ERROR C202 IN LINE 94 OF PHENG.C: 'bf': undefined identifier
95 5 else bf=200;//再次调小步进
*** ERROR C202 IN LINE 95 OF PHENG.C: 'bf': undefined identifier
96 5
97 5 if(!(cs%2)&&(cs<=10))//记录翻滚次数
*** ERROR C202 IN LINE 97 OF PHENG.C: 'cs': undefined identifier
98 5 { cs++;
*** ERROR C202 IN LINE 98 OF PHENG.C: 'cs': undefined identifier
99 6
100 6 }
101 5 }
102 4 }
103 3 ht=1;//后退完毕,后退参数置一
*** ERROR C202 IN LINE 103 OF PHENG.C: 'ht': undefined identifier
104 3 if(tz<=100||(qj<2))//没有进入过平衡态时或前进参数小于2时,前进参数置一,否则,除以2
*** ERROR C202 IN LINE 104 OF PHENG.C: 'tz': undefined identifier
105 3 qj=1;
*** ERROR C202 IN LINE 105 OF PHENG.C: 'qj': undefined identifier
106 3 else qj=6;
*** ERROR C202 IN LINE 106 OF PHENG.C: 'qj': undefined identifier
107 3 }//重新设置前进后退参数
108 2 TC=0;
*** ERROR C202 IN LINE 108 OF PHENG.C: 'TC': undefined identifier
109 2 p1_2=1;
*** ERROR C202 IN LINE 109 OF PHENG.C: 'p1_2': undefined identifier
110 2 p1_5=1;//使电机停止
*** ERROR C202 IN LINE 110 OF PHENG.C: 'p1_5': undefined identifier
111 2 }
112 1
113 1 ////////////////////////////////////////////////////////////////
114 1
115 1 ////////////////////////////////////////////////////////////////
116 1 if((p2_5==0||phzt==2)&&phzt!=4)//后仰了
*** ERROR C202 IN LINE 116 OF PHENG.C: 'p2_5': undefined identifier
117 1 { fy++;//反应参数自加一
*** ERROR C202 IN LINE 117 OF PHENG.C: 'fy': undefined identifier
118 2 qj++;//前进（后仰）参数；
*** ERROR C202 IN LINE 118 OF PHENG.C: 'qj': undefined identifier
119 2 TC=1;//打开电机
*** ERROR C202 IN LINE 119 OF PHENG.C: 'TC': undefined identifier
120 2 if(bc==1)
*** ERROR C202 IN LINE 120 OF PHENG.C: 'bc': undefined identifier
121 2 {
122 3 qj=fdd*ht;
*** ERROR C202 IN LINE 122 OF PHENG.C: 'qj': undefined identifier
123 3 bc=2;
*** ERROR C202 IN LINE 123 OF PHENG.C: 'bc': undefined identifier
124 3
125 3 }
126 2 if(cf||phzt==1)
*** ERROR C202 IN LINE 126 OF PHENG.C: 'cf': undefined identifier
127 2 { //若在冲锋,反应参数到达20,自动满足前进条件
128 3 qj=fdd*ht;
*** ERROR C202 IN LINE 128 OF PHENG.C: 'qj': undefined identifier
129 3 if(cf&&tk>=30)
*** ERROR C202 IN LINE 129 OF PHENG.C: 'cf': undefined identifier
130 3 setnumber=3;
C51 COMPILER V7.07 PHENG 08/02/2009 10:12:42 PAGE 5
*** ERROR C202 IN LINE 130 OF PHENG.C: 'setnumber': undefined identifier
131 3 if(phzt==2)
*** ERROR C202 IN LINE 131 OF PHENG.C: 'phzt': undefined identifier
132 3 if(p2_0&&p2_1&&p2_2)
*** ERROR C202 IN LINE 132 OF PHENG.C: 'p2_0': undefined identifier
133 3 phzt=3;
*** ERROR C202 IN LINE 133 OF PHENG.C: 'phzt': undefined identifier
134 3 }
135 2 if(!cf&&fy>=250)//若没有冲锋,则反应参数到200后,自动对前进后退参数置一,并且打开微调
*** ERROR C202 IN LINE 135 OF PHENG.C: 'cf': undefined identifier
136 2 {fy=0;
*** ERROR C202 IN LINE 136 OF PHENG.C: 'fy': undefined identifier
137 3 qj=1;
*** ERROR C202 IN LINE 137 OF PHENG.C: 'qj': undefined identifier
138 3 ht=1;
*** ERROR C202 IN LINE 138 OF PHENG.C: 'ht': undefined identifier
139 3 wt=1;
*** ERROR C202 IN LINE 139 OF PHENG.C: 'wt': undefined identifier
140 3 }
141 2
142 2 if(qj>=fdd*ht)//防平衡器抖动；
*** ERROR C202 IN LINE 142 OF PHENG.C: 'qj': undefined identifier
143 2 { ph=0;//电机打开,平衡态系数置零
*** ERROR C202 IN LINE 143 OF PHENG.C: 'ph': undefined identifier
144 3 fx=2;//方向为前
*** ERROR C202 IN LINE 144 OF PHENG.C: 'fx': undefined identifier
145 3
146 3
147 3 for(i=0;i<=(bf*(bc%2+1)-100)/*步进补偿*/;i++)
*** ERROR C202 IN LINE 147 OF PHENG.C: 'i': undefined identifier
148 3 {
149 4
150 4 //////////////////////////////////前进循迹程序段///////////////////////////
151 4 xunji();
152 4
153 4 /////////////////////////////////////////////////////////
154 4
155 4 if((cs%2)&&(cs<=10))//跷跷板过平衡点次数
*** ERROR C202 IN LINE 155 OF PHENG.C: 'cs': undefined identifier
156 4 { cs++;
*** ERROR C202 IN LINE 156 OF PHENG.C: 'cs': undefined identifier
157 5 }
158 4 qj=1;//前进参数置一
*** ERROR C202 IN LINE 158 OF PHENG.C: 'qj': undefined identifier
159 4 if (cf||bc==2)
*** ERROR C202 IN LINE 159 OF PHENG.C: 'cf': undefined identifier
160 4 { ht=30;
*** ERROR C202 IN LINE 160 OF PHENG.C: 'ht': undefined identifier
161 5 if(bc==2)
*** ERROR C202 IN LINE 161 OF PHENG.C: 'bc': undefined identifier
162 5 bc=4;
*** ERROR C202 IN LINE 162 OF PHENG.C: 'bc': undefined identifier
163 5 }//若在冲锋,后退参数置为30
164 4 else if(tz<=100||(ht<2))//若没有冲锋,且没有进入平衡状态或后退参数<2时,就将其置一,否则除以2
*** ERROR C202 IN LINE 164 OF PHENG.C: 'tz': undefined identifier
165 4 ht=1;
*** ERROR C202 IN LINE 165 OF PHENG.C: 'ht': undefined identifier
166 4 else ht=6;
*** ERROR C202 IN LINE 166 OF PHENG.C: 'ht': undefined identifier
167 4
168 4 }
169 3 }
C51 COMPILER V7.07 PHENG 08/02/2009 10:12:42 PAGE 6
170 2 TC=0;
*** ERROR C202 IN LINE 170 OF PHENG.C: 'TC': undefined identifier
171 2 p1_2=1;
*** ERROR C202 IN LINE 171 OF PHENG.C: 'p1_2': undefined identifier
172 2 p1_5=1;//使电机停止
*** ERROR C202 IN LINE 172 OF PHENG.C: 'p1_5': undefined identifier
173 2 }
174 1 }
175
C51 COMPILATION COMPLETE. 0 WARNING(S), 137 ERROR(S)
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