📄 keyctlextra.c
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#include "SPCE061V004.h"
#define FORWARD 0 //前进状态
#define BACKWARD 1 //后退状态
#define STOP 2 //停止状态
#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 BLACKWIRE_H 7
#define ADJUSTDISTANS 20
/*需要重新定义的输入数据口*/
#define FORELEFT 1 //前左
#define FORERIGHT 6 //前右
#define BACKLEFT 0 //后左
#define BACKRIGHT 7 //后右
#define TOPLEFT 3 //上左
#define TOPRIGHT 4 //上右,靠墙
#define DISTANS_TEST 5 //轮子检测
#define START 2 //开始键
#define PHASE1_CURRENT 0x0800 //L298端口1，对应IOB11
#define PHASE2_CURRENT 0x1000 //L298端口15，对应IOB12
#define WHEELTURNONE 7 //辐条检测一次距离，单位:厘米
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，单位:厘米
extern uint Time; //总时间
extern uint key_array[8];
extern uint KeyUpFlag;
extern uint led[8];
void LEDdisplay( unsigned char , unsigned char );
unsigned char PointCTL(unsigned char );
void delay(uint );
void FaceBlackWire();
void Speed(uint speedvalue);
void ForeWheelForword();
void ForeWheelReverse();
void TurnLeft();
void TurnRight();
void Stop();
void Adjust();
void ForeBlackwireDetect(); /*去时黑线检测*/
void BackBlackWireDetect(); /* 返回时黑线检测*/
uint StartFlag=0;
extern uint KeyUpFlagArray[8];
void Keycontrol()
{
uint s_buf;
if(Status== FORWARD) /*去时黑线检测*/
{
*P_Watchdog_Clear=1;
ForeBlackwireDetect();
}
if(Status== BACKWARD) /* 返回时黑线检测*/
{
*P_Watchdog_Clear=1;
BackBlackWireDetect();
}
if(key_array[TOPLEFT] && (KeyUpFlagArray[TOPLEFT] || KeyUpFlag ))
{
key_array[TOPLEFT]=0;
KeyUpFlagArray[TOPLEFT]=0;
}
if(key_array[TOPRIGHT]==0) /*靠墙走*/
{
if(Status== FORWARD) TurnRight();
if(Status== BACKWARD) TurnLeft();
key_array[TOPRIGHT]=0;
}
else if(key_array[TOPRIGHT] && (KeyUpFlagArray[TOPRIGHT] || KeyUpFlag ))
{
if(Status== FORWARD) TurnLeft();
if(Status== BACKWARD) TurnRight();
key_array[TOPRIGHT]=0;
KeyUpFlagArray[TOPRIGHT]=0;
}
if(key_array[DISTANS_TEST] && (KeyUpFlagArray[DISTANS_TEST] || KeyUpFlag )) /*辐条检测处理*/
{
S+=WHEELTURNONE;
s_buf=S;
led[5]= s_buf/1000;
s_buf= s_buf-led[5]*1000;
led[6]= s_buf/100;
s_buf= s_buf-led[6]*100;
led[7]= s_buf/10;
LEDdisplay( 0x05 ,led[5] );
LEDdisplay( 0x06 ,PointCTL(led[6]) );
LEDdisplay( 0x07 ,led[7] );
*P_Watchdog_Clear=1;
key_array[DISTANS_TEST]=0;
KeyUpFlagArray[DISTANS_TEST]=0;
}
if(key_array[START] && (KeyUpFlagArray[START] || KeyUpFlag )) /*开始键*/
{
Stop();
StartFlag=1;
key_array[START]=0;
KeyUpFlagArray[START] =0;
}
}
uint ss[6]={0,0,0,0,0,0}; //记录各个点之间的距离时间
uint tt[6]={0,0,0,0,0,0};
uint times[6]={0,0,0,0,0,0};
void ForeBlackwireDetect() /*去时黑线检测*/
{
if(key_array[FORELEFT ] && (KeyUpFlagArray[FORELEFT] || KeyUpFlag ))
{
if (times[0]==0) /*Face B*/
{
ss[0]=S;
tt[0]=Time;
times[0]=1;
key_array[FORELEFT ]=0;
Blackwire++;
FaceBlackWire();
}
else if(Blackwire==BLACKWIRE_B) /*Face C*/
{
if (times[1]==0)
{
ss[1]=S;
tt[1]=Time;
key_array[FORELEFT ]=0;
if( (ss[1]-ss[0])< ADJUSTDISTANS)
Adjust();
else if((ss[1]-ss[0])>40)
{
key_array[FORELEFT ]=0;
Blackwire++;
FaceBlackWire();
times[1]=1;
}
}
}
else if(Blackwire==BLACKWIRE_C) /*Face D*/
{
if (times[2]==0)
{
ss[2]=S;
tt[2]=Time;
key_array[FORELEFT ]=0;
if( (ss[2]-ss[1])< ADJUSTDISTANS)
Adjust();
else if((ss[2]-ss[1])>280)
{
key_array[FORELEFT ]=0;
Blackwire++;
FaceBlackWire();
times[2]=1;
}
}
}
else if(Blackwire==BLACKWIRE_D) /*Face E*/
{
if (times[3]==0)
{
ss[3]=S;
tt[3]=Time;
key_array[FORELEFT ]=0;
if( (ss[3]-ss[2])< ADJUSTDISTANS)
Adjust();
else if((ss[3]-ss[2])>150)
{
key_array[FORELEFT ]=0;
Blackwire++;
FaceBlackWire();
times[3]=1;
}
}
}
else if(Blackwire==BLACKWIRE_E) /*Face F*/
{
if (times[4]==0)
{
ss[4]=S;
tt[4]=Time;
key_array[FORELEFT ]=0;
if( (ss[4]-ss[3])< ADJUSTDISTANS)
Adjust();
else if((ss[4]-ss[3])>280)
{
key_array[FORELEFT ]=0;
Blackwire++;
FaceBlackWire();
times[4]=1;
}
}
}
else if(Blackwire==BLACKWIRE_F) /*Face G*/
{
if (times[5]==0)
{
ss[5]=S;
tt[5]=Time;
key_array[FORELEFT ]=0;
if( (ss[5]-ss[4])< ADJUSTDISTANS)
Adjust();
else if((ss[5]-ss[4])>40)
{
key_array[FORELEFT ]=0;
Blackwire++;
FaceBlackWire();
times[5]=1;
}
}
}
KeyUpFlagArray[FORELEFT]=0;
}
if(key_array[FORERIGHT] && (KeyUpFlagArray[FORERIGHT] || KeyUpFlag ))
{
key_array[FORERIGHT]=0;
KeyUpFlagArray[FORERIGHT]=0;
}
}
uint sss[6]={0,0,0,0,0,0};
uint ttt[6]={0,0,0,0,0,0};
uint timess[6]={0,0,0,0,0,0};
void BackBlackWireDetect() /* 返回时黑线检测*/
{
if(key_array[BACKLEFT] && (KeyUpFlagArray[BACKLEFT] || KeyUpFlag ))
{
if (Blackwire==BLACKWIRE_H) /*Face G*/
{
sss[0]=S;
ttt[0]=Time;
timess[0]=1;
key_array[BACKLEFT ]=0;
Blackwire--;
FaceBlackWire();
}
else if(Blackwire==BLACKWIRE_G) /*Face F*/
{
if (timess[1]==0)
{
sss[1]=S;
ttt[1]=Time;
key_array[BACKLEFT ]=0;
if( (sss[1]-sss[0])< ADJUSTDISTANS)
Adjust();
else if((sss[1]-sss[0])>40)
{
key_array[BACKLEFT ]=0;
Blackwire--;
FaceBlackWire();
timess[1]=1;
}
}
}
else if(Blackwire==BLACKWIRE_F) /*Face E*/
{
if (timess[2]==0)
{
sss[2]=S;
ttt[2]=Time;
key_array[BACKLEFT ]=0;
if( (sss[2]-sss[1])< ADJUSTDISTANS)
Adjust();
else if((sss[2]-sss[1])>280)
{
key_array[BACKLEFT ]=0;
Blackwire--;
FaceBlackWire();
timess[2]=1;
}
}
}
else if(Blackwire==BLACKWIRE_E) /*Face D*/
{
if (timess[3]==0)
{
sss[3]=S;
ttt[3]=Time;
key_array[BACKLEFT ]=0;
if( (sss[3]-sss[2])< ADJUSTDISTANS)
Adjust();
else if((sss[3]-sss[2])>150)
{
key_array[BACKLEFT ]=0;
Blackwire--;
FaceBlackWire();
timess[3]=1;
}
}
}
else if(Blackwire==BLACKWIRE_D) /*Face C*/
{
if (timess[4]==0)
{
sss[4]=S;
ttt[4]=Time;
key_array[BACKLEFT ]=0;
if( (sss[4]-sss[3])< ADJUSTDISTANS)
Adjust();
else if((sss[4]-sss[3])>280)
{
key_array[BACKLEFT ]=0;
Blackwire--;
FaceBlackWire();
timess[4]=1;
}
}
}
else if(Blackwire==BLACKWIRE_C) /*Face B*/
{
if (timess[5]==0)
{
sss[5]=S;
ttt[5]=Time;
key_array[BACKLEFT ]=0;
if( (sss[5]-sss[4])< ADJUSTDISTANS)
Adjust();
else if((sss[5]-sss[4])>35)
{
key_array[BACKLEFT ]=0;
Blackwire--;
FaceBlackWire();
timess[5]=1;
}
}
}
KeyUpFlagArray[BACKLEFT]=0;
}
if(key_array[BACKRIGHT] && (KeyUpFlagArray[BACKRIGHT] || KeyUpFlag ))
{
key_array[BACKRIGHT]=0;
KeyUpFlagArray[BACKRIGHT]=0;
}
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