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if (__GucMouseState == __GOAHEAD) { /* 根据传感器状态微调电机位置 */
if (__GucDistance[__FRONTL] && (__GucDistance[__FRONTR] == 0)) {
if (n == 1) {
__GmRight.cState = __WAITONESTEP;
}
n++;
n %= 2;
} else {
n = 0;
}
if ((__GucDistance[__RIGHT] == 1) && (__GucDistance[__LEFT] == 0)) {
if(m == 3) {
__GmRight.cState = __WAITONESTEP;
}
m++;
m %= 6;
} else {
m = 0;
}
}
__rightMotorContr(); /* 电机驱动程序 */
break;
default:
break;
}
/*
* 是否完成任务判断
*/
if (__GmRight.cState != __MOTORSTOP) {
__GmRight.uiPulseCtr++; /* 运行脉冲计数 */
__speedContrR(); /* 速度调节 */
if (__GmRight.uiPulseCtr >= __GmRight.uiPulse) {
__GmRight.cState = __MOTORSTOP;
__GmRight.uiPulseCtr = 0;
__GmRight.uiPulse = 0;
__GmRight.iSpeed = 0;
}
}
}
/*********************************************************************************************************
** Function name: Timer1A_ISR
** Descriptions: Timer1中断服务函数
** input parameters: __GmLeft.cState :驱动步进电机的时序状态
** __GmLeft.cDir :步进电机运动的方向
** output parameters: 无
** Returned value: 无
*********************************************************************************************************/
void Timer1A_ISR(void)
{
static int8 n = 0, m = 0;
TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT); /* 清除定时器1中断。 */
switch (__GmLeft.cState) {
case __MOTORSTOP: /* 停止，同时清零速度和脉冲值 */
__GmLeft.iSpeed = 0;
__GmLeft.uiPulse = 0;
__GmLeft.uiPulseCtr = 0;
break;
case __WAITONESTEP: /* 暂停一步 */
__GmLeft.cState = __MOTORRUN;
break;
case __MOTORRUN: /* 电机运行 */
if (__GucMouseState == __GOAHEAD) { /* 根据传感器状态微调电机位置 */
if (__GucDistance[__FRONTR] &&(__GucDistance[__FRONTL]==0)) {
if (n == 1) {
__GmLeft.cState = __WAITONESTEP;
}
n++;
n %= 2;
} else {
n = 0;
}
if ((__GucDistance[__LEFT] == 1) && (__GucDistance[__RIGHT] == 0)) {
if(m == 3) {
__GmLeft.cState = __WAITONESTEP;
}
m++;
m %= 6;
} else {
m = 0;
}
}
__leftMotorContr(); /* 电机驱动程序 */
break;
default:
break;
}
/*
* 是否完成任务判断
*/
if (__GmLeft.cState != __MOTORSTOP) {
__GmLeft.uiPulseCtr++; /* 运行脉冲计数 */
__speedContrL(); /* 速度调节 */
if (__GmLeft.uiPulseCtr >= __GmLeft.uiPulse) {
__GmLeft.cState = __MOTORSTOP;
__GmLeft.uiPulseCtr = 0;
__GmLeft.uiPulse = 0;
__GmLeft.iSpeed = 0;
}
}
}
/*********************************************************************************************************
** Function name: mazeSearch
** Descriptions: 前进N格
** input parameters: iNblock: 前进的格数
** output parameters: 无
** Returned value: 无
*********************************************************************************************************/
void mouseGoahead (int8 cNBlock)
{
int8 cL = 0, cR = 0, cCoor = 1;
if (__GmLeft.cState) {
cCoor = 0;
}
/*
* 设定运行任务
*/
__GucMouseState = __GOAHEAD;
__GiMaxSpeed = MAXSPEED;
__GmRight.cDir = __MOTORGOAHEAD;
__GmLeft.cDir = __MOTORGOAHEAD;
__GmRight.uiPulse = __GmRight.uiPulse + cNBlock * ONEBLOCK - 6;
__GmLeft.uiPulse = __GmLeft.uiPulse + cNBlock * ONEBLOCK - 6;
__GmRight.cState = __MOTORRUN;
__GmLeft.cState = __MOTORRUN;
while (__GmLeft.cState != __MOTORSTOP) {
if (__GmLeft.uiPulseCtr >= ONEBLOCK) { /* 判断是否走完一格 */
__GmLeft.uiPulse -= ONEBLOCK;
__GmLeft.uiPulseCtr -= ONEBLOCK;
if (cCoor) {
cNBlock--;
__mouseCoorUpdate(); /* 更新坐标 */
} else {
cCoor = 1;
}
}
if (__GmRight.uiPulseCtr >= ONEBLOCK) { /* 判断是否走完一格 */
__GmRight.uiPulse -= ONEBLOCK;
__GmRight.uiPulseCtr -= ONEBLOCK;
}
if (__GucDistance[__FRONT]) { /* 前方有墙，则跳出程序 */
__GmRight.uiPulse = __GmRight.uiPulseCtr + 70;
__GmLeft.uiPulse = __GmLeft.uiPulseCtr + 70;
while (__GucDistance[ __FRONT]) {
if ((__GmLeft.uiPulseCtr + 20) > __GmLeft.uiPulse) {
goto End;
}
}
}
if (cNBlock < 2) {
if (cL) { /* 是否允许检测左边 */
if ((__GucDistance[ __LEFT] & 0x01) == 0) { /* 左边有支路，跳出程序 */
__GmRight.uiPulse = __GmRight.uiPulseCtr + 74;
__GmLeft.uiPulse = __GmLeft.uiPulseCtr + 74;
while ((__GucDistance[ __LEFT] & 0x01) == 0) {
if ((__GmLeft.uiPulseCtr + 20) > __GmLeft.uiPulse) {
goto End;
}
}
}
} else { /* 左边有墙时开始允许检测左边 */
if ( __GucDistance[ __LEFT] & 0x01) {
cL = 1;
}
}
if (cR) { /* 是否允许检测右边 */
if ((__GucDistance[__RIGHT] & 0x01) == 0) { /* 右边有支路，跳出程序 */
__GmRight.uiPulse = __GmRight.uiPulseCtr + 74;
__GmLeft.uiPulse = __GmLeft.uiPulseCtr + 74;
while ((__GucDistance[ __RIGHT] & 0x01) == 0) {
if ((__GmLeft.uiPulseCtr + 20) > __GmLeft.uiPulse) {
goto End;
}
}
}
} else {
if ( __GucDistance[__RIGHT] & 0x01) { /* 右边有墙时开始允许检测右边 */
cR = 1;
}
}
}
}
/*
* 设定运行任务，让电脑鼠走到支路的中心位置
*/
End: __mouseCoorUpdate(); /* 更新坐标 */
}
/*********************************************************************************************************
** Function name: mazeSearch
** Descriptions: 前进N格
** input parameters: iNblock: 前进的格数
** output parameters: 无
** Returned value: 无
*********************************************************************************************************/
void mazeSearch(void)
{
int8 cL = 0, cR = 0, cCoor = 1;
if (__GmLeft.cState) {
cCoor = 0;
}
/*
* 设定运行任务
*/
__GucMouseState = __GOAHEAD;
__GiMaxSpeed = SEARCHSPEED;
__GmRight.cDir = __MOTORGOAHEAD;
__GmLeft.cDir = __MOTORGOAHEAD;
__GmRight.uiPulse = MAZETYPE * ONEBLOCK;
__GmLeft.uiPulse = MAZETYPE * ONEBLOCK;
__GmRight.cState = __MOTORRUN;
__GmLeft.cState = __MOTORRUN;
while (__GmLeft.cState != __MOTORSTOP) {
if (__GmLeft.uiPulseCtr >= ONEBLOCK) { /* 判断是否走完一格 */
__GmLeft.uiPulse -= ONEBLOCK;
__GmLeft.uiPulseCtr -= ONEBLOCK;
if (cCoor) {
__mouseCoorUpdate(); /* 更新坐标 */
} else {
cCoor = 1;
}
}
if (__GmRight.uiPulseCtr >= ONEBLOCK) { /* 判断是否走完一格 */
__GmRight.uiPulse -= ONEBLOCK;
__GmRight.uiPulseCtr -= ONEBLOCK;
}
if (__GucDistance[__FRONT]) { /* 前方有墙，则跳出程序 */
__GmRight.uiPulse = __GmRight.uiPulseCtr + 70;
__GmLeft.uiPulse = __GmLeft.uiPulseCtr + 70;
while (__GucDistance[ __FRONT]) {
if ((__GmLeft.uiPulseCtr + 20) > __GmLeft.uiPulse) {
goto End;
}
}
__GmRight.uiPulse = MAZETYPE * ONEBLOCK;
__GmLeft.uiPulse = MAZETYPE * ONEBLOCK;
}
if (cL) { /* 是否允许检测左边 */
if ((__GucDistance[ __LEFT] & 0x01) == 0) { /* 左边有支路，跳出程序 */
__GmRight.uiPulse = __GmRight.uiPulseCtr + 74;
__GmLeft.uiPulse = __GmLeft.uiPulseCtr + 74;
while ((__GucDistance[ __LEFT] & 0x01) == 0) {
if ((__GmLeft.uiPulseCtr + 20) > __GmLeft.uiPulse) {
goto End;
}
}
__GmRight.uiPulse = MAZETYPE * ONEBLOCK;
__GmLeft.uiPulse = MAZETYPE * ONEBLOCK;
}
} else { /* 左边有墙时开始允许检测左边 */
if ( __GucDistance[ __LEFT] & 0x01) {
cL = 1;
}
}
if (cR) { /* 是否允许检测右边 */
if ((__GucDistance[__RIGHT] & 0x01) == 0) { /* 右边有支路，跳出程序 */
__GmRight.uiPulse = __GmRight.uiPulseCtr + 74;
__GmLeft.uiPulse = __GmLeft.uiPulseCtr + 74;
while ((__GucDistance[ __RIGHT] & 0x01) == 0) {
if ((__GmLeft.uiPulseCtr + 20) > __GmLeft.uiPulse) {
goto End;
}
}
__GmRight.uiPulse = MAZETYPE * ONEBLOCK;
__GmLeft.uiPulse = MAZETYPE * ONEBLOCK;
}
} else {
if ( __GucDistance[__RIGHT] & 0x01) { /* 右边有墙时开始允许检测右边 */
cR = 1;
}
}
}
End: __mouseCoorUpdate(); /* 更新坐标 */
}
/*********************************************************************************************************
** Function name: SysTick_ISR
** Descriptions: 定时中断扫描。
** input parameters: 无
** output parameters: 无
** Returned value: 无
*********************************************************************************************************/
void SysTick_ISR(void)
{
static int32 iL = 0, iR = 0;
/*
* 如果左电机长时间停止，则断电
*/
if (__GmLeft.cState == __MOTORSTOP) {
iL++;
} else {
iL = 0;
}
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