robot.h

智能语音识别避障机器人 // 语音识别+机器人+超声波测距综合应用方案 // 采用特定人识别技术

#ifndef	__ROBOT_H__
#define	__ROBOT_H__
//	write your header here

extern unsigned int RES_BSR_BIN_SA;
extern unsigned int uiEnemy[];		//	存储几次的测量值
extern unsigned int uiEnemyIndex;					//	当前测量值的存储位置

//	Definition for 避障
#define MinDistance 20
#define MaxDistance 25
#define MaxStorageNumber 5
#define TypeDistanceValue ((MinDistance * (MaxStorageNumber - 2)) / MaxStorageNumber)

#define GroupAddr	0xf700
//#define GroupAddr RES_BSR_BIN_SA
#define GroupSize	0x0200
#define Group1		GroupAddr
#define Group2		(GroupAddr + GroupSize)
#define Group3		(GroupAddr + GroupSize + GroupSize)

#define NAME_ID				0x100
#define Command_One_ID		0x101
#define Command_Two_ID		0x102
#define Command_Three_ID	0x103
#define Command_Four_ID		0x104

#define	P_IOA_Data 			(volatile unsigned int *)0x7000   
#define P_IOA_Buffer 		(volatile unsigned int *)0x7001
#define P_IOA_Dir 			(volatile unsigned int *)0x7002
#define P_IOA_Attrib 		(volatile unsigned int *)0x7003

#define P_IOB_Data			(volatile unsigned int *)0x7005  
#define P_IOB_Buffer		(volatile unsigned int *)0x7006   
#define P_IOB_Dir			(volatile unsigned int *)0x7007   
#define P_IOB_Attrib		(volatile unsigned int *)0x7008


#define One		0
#define Two		1
#define Three	2
#define Four	3
#define Five	4

#define DANG1	5
#define DANG2	6
#define DANG3	7
#define DANG4	8
#define DANG5	9
#define DANG6	10
#define DANG7	11
#define DANG8	12
#define DANG9	13

#define DONG1	14
#define DONG2	15
#define DONG3	16
#define DONG4	17
#define DONG5	18
#define DONG6	19

#define FOLLOWME	20
#define GUN		21
#define HO		22
#define HOO		23
#define HOOO	24
#define	LETUSGO	25

#define MUSIC1	26
#define MUSIC2	27
#define MUSIC3	28
#define MUSIC4	29

#define OK		30
#define SHOOT	31
#define	TURNHEAD	32
#define WALK	33
#define	WO		34
#define WOO		35
#define YEAH	36

#define D24		37
#define D25		38
#define D26		39
#define D27		40
#define D28		41
#define D29		42



#endif