faceblackwire.c

智能小车的往返行驶,单片机实现,使用红外信号进行路面信号的采集

#include "SPCE061V004.h"
#define   BLACKWIRE_B    1
#define   BLACKWIRE_C    2
#define   BLACKWIRE_D    3
#define   BLACKWIRE_E    4
#define   BLACKWIRE_F    5
#define   BLACKWIRE_G    6
#define   FULLSPEED      50                  //全速
#define   SLOWSPEED      8                   //慢速 
#define   FORWARD             0              //前进状态
#define   BACKWARD            1		         //后退状态
#define   STOP				  2				 //停止状态
typedef unsigned int uint;
extern uint SpeedValue;   //档位值，从1－100
extern uint Status;	      //记录和控制车前进，后退状态
extern uint Blackwire;	  //记录黑线数
extern uint S;			  //总路程	
extern uint Time;		  //总时间
void LEDdisplay( unsigned char , unsigned char  );
void delay(uint );
void Speed(uint speedvalue);
void ForeWheelForword();
void ForeWheelReverse();
void TurnLeft();
void TurnRight();
void Stop();
uint Delay10sFlag=0;

void FaceBlackWire()
 {
  *P_Watchdog_Clear=1;
  LEDdisplay(0x03, Blackwire);
  switch (Blackwire)
    {
    case BLACKWIRE_B:
                  {if(Status==FORWARD) Speed(FULLSPEED); 
                   else { Stop();Status==STOP;} break;}
    case BLACKWIRE_C:
                  { if(Status==FORWARD) Speed(FULLSPEED);  
                      else Speed(SLOWSPEED);  break;}
    case BLACKWIRE_D:
                  {if(Status==FORWARD)  Speed(SLOWSPEED);  
                   else Speed(FULLSPEED);   break;}
    case BLACKWIRE_E:
                  {if(Status==FORWARD)  Speed(FULLSPEED);  
                  else Speed(SLOWSPEED);   break;}
    case BLACKWIRE_F:
                  {if(Status==FORWARD) Speed(SLOWSPEED); 
                    else  Speed(FULLSPEED);    break;}
    case BLACKWIRE_G:
                   {if(Status==FORWARD)  {Stop();Delay10sFlag=1;}
                    else Speed(FULLSPEED);  break;}
    default:break;
    }
 }