📄 main.lst
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287 3 if (sta2==4)PA2=1;
288 3 if (sta2==5)PC2=0;
289 3 }
290 2 }
291 1 }
292
293 float Pointab_A(float x,float y)//变量转换xy-a
294 {
295 1 return(sqrt((1150-y)*(1150-y)+(x+150)*(x+150)));
296 1 }
297
298 float Pointab_B(float x,float y) //变量转换xy-b
299 {
300 1 return(sqrt((1150-y)*(1150-y)+(950-x)*(950-x)));
301 1 }
302
303 float Pointxy_X(float a,float b)//变量转换ab-x
C51 COMPILER V7.50 MAIN 09/12/2005 03:25:56 PAGE 6
304 {
305 1 return((a*a+c*c-b*b)/2/c-150);
306 1 }
307
308 float Pointxy_Y(float a,float b) //变量转换ab-y
309 {
310 1 return(1000-sin(acos((a*a+c*c-b*b)/2/a/c))*a+150);
311 1 }
312
313 void Lineto(float x, float y)
314 {
315 1 long i,j;
316 1 float xstep,ystep,deltla,deltlb,lastx,lasty;
317 1 deltla=Pointab_A(x,y)-alast;
318 1 deltlb=Pointab_B(x,y)-blast;
319 1 if(abs(deltla)>abs(deltlb))j=(long)(abs(deltla)/minline+0.5);
320 1 else j=(long)(abs(deltlb)/minline+0.5);
321 1 xstep=(x-xlast)/j;
322 1 ystep=(y-ylast)/j;
323 1 lastx=xlast;
324 1 lasty=ylast;
325 1 for(i=0;i<j;i++)Stepto(lastx+i*xstep,lasty+i*ystep);
326 1 }
327
328 void Stepto(float x, float y)
329 {
330 1 float anew,bnew;
331 1 anew=Pointab_A(x,y);
332 1 bnew=Pointab_B(x,y);
333 1 RunA(anew>alast?(long)(anew-alast+0.5):(long)(alast-anew+0.5),anew>alast?pull:push);
334 1 RunB(bnew>blast?(long)(bnew-blast+0.5):(long)(blast-bnew+0.5),bnew>blast?pull:push);
335 1 alast=alast+(float)((long)(anew-alast+((anew-alast)>0?0.5:-0.5)));
336 1 blast=blast+(float)((long)(bnew-blast+((bnew-blast)>0?0.5:-0.5)));
337 1 xlast=Pointxy_X(alast,blast);
338 1 ylast=Pointxy_Y(alast,blast);
339 1 send[0]=(long)ylast%10;
340 1 send[1]=(long)ylast/10%10;
341 1 send[2]=(long)ylast/100%10;
342 1 send[3]=(long)ylast/1000%10;
343 1 send[4]=(long)xlast%10;
344 1 send[5]=(long)xlast/10%10;
345 1 send[6]=(long)xlast/100%10;
346 1 //Display(send);
347 1 }
348
349
350 void Circle (float x,float y,float r)//画圆程序
351 {
352 1 long i,j;
353 1 float C;
354 1 C=Pi*2.*r;
355 1 j=(long)(C/minline);
356 1 for(i=0;i<j;i++) Stepto(x+r*cos(2*Pi*(i+1)/j),y+r*sin(2*Pi*(i+1)/j));
357 1 }
358
359 //*
360 void Mypath (void) //将物体直线运动 5mm*200
361 {
362 1 Lineto(0,0);
363 1 if(!KEY_INT)
364 1 {
365 2 key=ZLG7290_GetKey();
C51 COMPILER V7.50 MAIN 09/12/2005 03:25:56 PAGE 7
366 2 return;
367 2 }
368 1 Lineto(800,800);
369 1 if(!KEY_INT)
370 1 {
371 2 key=ZLG7290_GetKey();
372 2 return;
373 2 }
374 1 Lineto(600,1000);
375 1 if(!KEY_INT)
376 1 {
377 2 key=ZLG7290_GetKey();
378 2 return;
379 2 }
380 1 Lineto(400,0);
381 1 if(!KEY_INT)
382 1 {
383 2 key=ZLG7290_GetKey();
384 2 return;
385 2 }
386 1 Lineto(0,400);
387 1 if(!KEY_INT)
388 1 {
389 2 key=ZLG7290_GetKey();
390 2 return;
391 2 }
392 1 Lineto(800,400);
393 1 if(!KEY_INT)
394 1 {
395 2 key=ZLG7290_GetKey();
396 2 return;
397 2 }
398 1 Lineto(200,1000);
399 1 if(!KEY_INT)
400 1 {
401 2 key=ZLG7290_GetKey();
402 2 return;
403 2 }
404 1 Lineto(0,800);
405 1 if(!KEY_INT)
406 1 {
407 2 key=ZLG7290_GetKey();
408 2 return;
409 2 }
410 1 }
411 //*/
412 //*
413 unsigned int Trace (void) //将物体直线运动 5mm*200
414 {
415 1 //flag_trace=trace_ru;
416 1 Go_ru();
417 1 //if(flag_trace=trace_ru)Go_ru();
418 1 //if(flag_trace=trace_lu)Go_lu();
419 1 //if(flag_trace=trace_rd)Go_rd();
420 1 //if(flag_trace=trace_ld)Go_ld();
421 1 return 0;
422 1 }
423
424 void Go_ru(void) //右上
425 {
426 1 int i,i1;
427 1 if(flag_trace<97)return ;
C51 COMPILER V7.50 MAIN 09/12/2005 03:25:56 PAGE 8
428 1 while(ad549()<gate)RunB(10,pull); //右
429 1 for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,pull);//上
430 1 if(i>=searth) //没找到
431 1 {
432 2 for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,push); //下
433 2 if(i>=searth*2) //没找到
434 2 {
435 3 i1=i;
436 3 for(i=0;i<searth*2;i++)RunA(1,pull); //退回去,上
437 3 flag_trace--;
438 3 Go_lu(); //走左上
439 3 }
440 2 else Go_rd(); //找到，走右下
441 2 }
442 1 else
443 1 {
444 2 Go_ru();//找到，走右上
445 2 flag_trace=99;
446 2 }
447 1 }
448
449
450
451 void Go_rd(void) //右下
452 {
453 1 int i,i1;
454 1 //flag_trace=trace_rd;
455 1 if(flag_trace<97)return ;
456 1 while(ad549()<gate)RunB(10,pull); //右
457 1 for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,push);//下
458 1 if(i>=searth) //没找到
459 1 {
460 2 for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,pull); //上
461 2 if(i>=searth*2) //没找到
462 2 {
463 3 i1=i;
464 3 for(i=0;i<searth*2;i++)RunA(1,push); //退回去,下
465 3 flag_trace--;
466 3 Go_ld(); //走左下
467 3 }
468 2 else Go_ru(); //找到，走右上
469 2 }
470 1 else
471 1 {
472 2 Go_rd();//找到，走继续右下
473 2 flag_trace=99;
474 2 }
475 1 }
476
477 void Go_ld(void) //左下
478 {
479 1 int i,i1;
480 1 //flag_trace=trace_ld;
481 1 if(flag_trace<97)return ;
482 1 while(ad549()<gate)RunB(10,push); //右左
483 1 for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,push);//下
484 1 if(i>=searth) //没找到
485 1 {
486 2 for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,push); //上
487 2 if(i>=searth*2) //没找到
488 2 {
489 3 i1=i;
C51 COMPILER V7.50 MAIN 09/12/2005 03:25:56 PAGE 9
490 3 for(i=0;i<searth*2;i++)RunA(1,pull); //退回去,下
491 3 flag_trace--;
492 3 Go_rd(); //走右下
493 3 }
494 2 else Go_ru(); //找到，走右上
495 2 }
496 1 else
497 1 {
498 2 Go_ld();//找到，走左下
499 2 flag_trace=99;
500 2 }
501 1 }
502
503 void Go_lu(void) //左上
504 {
505 1 int i,i1;
506 1 //flag_trace=trace_lu;
507 1 if(flag_trace<97)return ;
508 1 while(ad549()<gate)RunB(10,push); //左
509 1 for(i=0;i<searth;i++)while(ad549()>gate)RunA(1,pull);//上
510 1 if(i>=searth) //没找到
511 1 {
512 2 for(i=0;i<searth*2;i++)while(ad549()>gate)RunA(1,push); //下
513 2 if(i>=searth*2) //没找到
514 2 {
515 3 i1=i;
516 3 for(i=0;i<searth*2;i++)RunA(1,pull); //退回去,上
517 3 flag_trace--;
518 3 Go_ru(); //走右上
519 3 }
520 2 else Go_rd(); //找到，走
521 2 }
522 1 else
523 1 {
524 2 Go_lu();//找到，走左上
525 2 flag_trace=99;
526 2 }
527 1 }
528 //*/
529
530 unsigned int ad549(void)
531 {
532 1 unsigned int AD1=0;
533 1 unsigned char i;
534 1 unsigned int AD2=0;
535 1 CS = 1;
536 1 CLK = 0;
537 1 DOUT= 1; // Initialize for Read
538 1 CS = 0; // Enable and Drive out Bit9
539 1 for(i=0;i<12;i++)
540 1 {
541 2 AD1 = AD1<<1;
542 2 if( DOUT ) AD1 = AD1|0x0001;
543 2 DIN=(bit)(AD2&0x8000);
544 2 CLK=1;
545 2 AD2<<=1;
546 2 _nop_();
547 2 _nop_();
548 2 CLK=0; //
549 2 _nop_();
550 2 _nop_();
551 2 }
C51 COMPILER V7.50 MAIN 09/12/2005 03:25:56 PAGE 10
552 1 AD1 = AD1>>1;
553 1 CS = 1;
554 1 for(i=0;i<20;i++); // delay >21us
555 1 return AD1;
556 1 }
557
558
559
560 //*/
561
562
563
MODULE INFORMATION: STATIC OVERLAYABLE
CODE SIZE = 4216 ----
CONSTANT SIZE = ---- ----
XDATA SIZE = 45 144
PDATA SIZE = ---- ----
DATA SIZE = ---- ----
IDATA SIZE = ---- ----
BIT SIZE = 2 2
END OF MODULE INFORMATION.
C51 COMPILATION COMPLETE. 0 WARNING(S), 0 ERROR(S)
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