📄 key.lst
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246 2 break;
247 2 default:
248 2 break;
249 2 }
250 1 }
251 void RTDkey()
252 {
253 1 switch(MENU_NO)
254 1 {
255 2 case 1:
256 2 Test_Case_9();
257 2 break;
258 2 case 10:
259 2 {
260 3 Test_Case_10();
261 3 }
262 2 break;
263 2 case 3:
264 2 case 5:
265 2 {
266 3 CH2_init();
267 3 // k=filter(0);
268 3 k=filter_biaoding(0);
269 3 display_num(1,80,1,1,1,k);
270 3 Wait7705(20000);
271 3 }
272 2 break;
273 2 case 4:
274 2 case 6:
275 2 {
276 3 CH1_init();
277 3 //k=filter(1);
278 3 k=filter_biaoding(1);
279 3 display_num(1,80,1,1,1,k);
280 3 Wait7705(20000);
281 3 }
282 2 break;
283 2 case 7:
284 2 {
285 3 Turnaround_CornerORPower_SendValue();
286 3 }
287 2 break;
288 2 case 8:
289 2 {
290 3 Turnaround_CornerORPower_SendORnot();
291 3 }
292 2 break;
293 2 default:
294 2 break;
295 2 }
296 1 }
297
298
299 void test2()
300 {
301 1 SetSerio=1;
302 1 send_char(0xaa); //左转角
303 1 delay();
C51 COMPILER V7.50 KEY 09/26/2007 17:19:07 PAGE 6
304 1 send_string_com(Turnaround_CornerORPower_Value2,2);
305 1 delay();
306 1 send_char(0xbb); //右转角
307 1 send_string_com(Turnaround_CornerORPower_Value2+2,2);
308 1 delay();
309 1 send_char(0xcc); //左转矩
310 1 delay();
311 1 send_string_com(Turnaround_CornerORPower_Value3,2);
312 1 delay();
313 1 send_char(0xdd); //右转矩
314 1 send_string_com(Turnaround_CornerORPower_Value3+2,2);
315 1 //SetSerio=1;
316 1 Turnaround_CornerORPower_Value2[0]=0;
317 1 Turnaround_CornerORPower_Value2[1]=0;
318 1 Turnaround_CornerORPower_Value2[2]=0;
319 1 Turnaround_CornerORPower_Value2[3]=0;
320 1
321 1 Turnaround_CornerORPower_Value3[0]=0;
322 1 Turnaround_CornerORPower_Value3[1]=0;
323 1 Turnaround_CornerORPower_Value3[2]=0;
324 1 Turnaround_CornerORPower_Value3[3]=0;
325 1
326 1 AD_getvalue1[0]=AD_getvalue1[1]=0;
327 1 AD_getvalue2[0]=AD_getvalue2[1]=0;
328 1 AD_getvalue3[0]=AD_getvalue3[1]=0;
329 1 AD_getvalue4[0]=AD_getvalue4[1]=0;
330 1
331 1 k_max1a=k_max1b=k_max2a=k_max2b=0;
332 1 MENU_NO=8;
333 1 MENU_MENU1_NO=8;
334 1 EA=0;
335 1 ES=0;
336 1 dprintf(42,0,"0000",0);
337 1 dprintf(84,0,"0000",0);
338 1 dprintf(42,1,"000",0);
339 1 dprintf(84,1,"000",0);
340 1 }
341 void Turnaround_CornerORPower_SendORnot()
342 {
343 1 Ch1k=Ch2k=0;
344 1 CH1_init();
345 1 Ch1k=filter(1);
346 1 CH2_init();
347 1 Ch2k=filter(0);
348 1 dprintf(0,0,"转角:",0);
349 1 draw_bmp(33,0,8,Left);
350 1 draw_bmp(75,0,8,Right);
351 1 dprintf(0,1,"转矩:",0);
352 1 draw_bmp(33,1,8,Left);
353 1 draw_bmp(75,1,8,Right);
354 1 if(Ch1k>Ck1)
355 1 {
356 2 Nt1=(360.0/abs(Turnaround_Corner_360-Turnaround_Corner_0))*abs(Ch1k-Ck1);
357 2 k_ch1a=(int)Nt1;
358 2 AD_getvalue1[count1]=k_ch1a;
359 2 count1++;
360 2 if(count1==2)
361 2 count1=1;
362 2 max1=AD_getvalue1[0];
363 2 for(i=1;i<2;i++)
364 2 {
365 3 if(AD_getvalue1[i]>max1)
C51 COMPILER V7.50 KEY 09/26/2007 17:19:07 PAGE 7
366 3 max1=AD_getvalue1[i];
367 3 }
368 2 k_max1a=max1;
369 2 AD_getvalue1[0]=k_max1a;
370 2 display_num(1,76,0,0,1,k_max1a);
371 2 }
372 1 else if(Ch1k<Ck1)
373 1 {
374 2 Nt2=(360.0/abs(Turnaround_Corner_360-Turnaround_Corner_0))*abs(Ch1k-Ck1);
375 2 k_ch1b=(int)Nt2;
376 2 AD_getvalue2[count2]=k_ch1b;
377 2 count2++;
378 2 if(count2==2)
379 2 count2=1;
380 2 max2=AD_getvalue2[0];
381 2 for(i=1;i<2;i++)
382 2 {
383 3 if(AD_getvalue2[i]>max2)
384 3 max2=AD_getvalue2[i];
385 3 }
386 2 k_max1b=max2;
387 2 AD_getvalue2[0]=k_max1b;
388 2 display_num(1,34,0,0,1,k_max1b);
389 2 }
390 1 else if(Ch1k==Ck1)
391 1 {
392 2 dprintf(42,0,"0000",0);
393 2 dprintf(84,0,"0000",0);
394 2 }
395 1 Turnaround_CornerORPower_Value2[0]=k_max1a/256;
396 1 Turnaround_CornerORPower_Value2[1]=k_max1a%256;
397 1 Turnaround_CornerORPower_Value2[2]=k_max1b/256;
398 1 Turnaround_CornerORPower_Value2[3]=k_max1b%256;
399 1
400 1 //Nt=(40.0*(abs(Ch2k-Turnaround_Power_0)))/(abs(Turnaround_Power_200-Turnaround_Power_0));
401 1 if(Ch2k>Turnaround_Power_0)
402 1 {
403 2 //Nt3=(40.0/abs(Turnaround_Power_200-Turnaround_Power_0))*abs(Ch2k-Ck2);
404 2 Nt3=(40.0*(abs(Ch2k-Turnaround_Power_0)))/(abs(Turnaround_Power_200-Turnaround_Power_0));
405 2 k_ch2a=(int)Nt3;
406 2 AD_getvalue3[count3]=k_ch2a;
407 2 count3++;
408 2 if(count3==2)
409 2 count3=1;
410 2 max3=AD_getvalue3[0];
411 2 for(i=1;i<2;i++)
412 2 {
413 3 if(AD_getvalue3[i]>max3)
414 3 max3=AD_getvalue3[i];
415 3 }
416 2 k_max2a=max3;
417 2 AD_getvalue3[0]=k_max2a;
418 2 //void display_num1(uchar beginaddre,uchar cole,uint k);
419 2 // display_num1(84,1,k_max2a,1);
420 2 display_num(1,68,1,0,0,k_max2a);
421 2 }
422 1 else if(Ch2k<Turnaround_Power_0)
423 1 {
424 2 Nt4=(40.0*(abs(Ch2k-Turnaround_Power_0)))/(abs(Turnaround_Power_200-Turnaround_Power_0));
425 2 k_ch2b=(int)Nt4;
426 2 AD_getvalue4[count4]=k_ch2b;
427 2 count4++;
C51 COMPILER V7.50 KEY 09/26/2007 17:19:07 PAGE 8
428 2 if(count4==2)
429 2 count4=1;
430 2 max4=AD_getvalue4[0];
431 2 for(i=1;i<2;i++)
432 2 {
433 3 if(AD_getvalue4[i]>max4)
434 3 max4=AD_getvalue4[i];
435 3 }
436 2 k_max2b=max4;
437 2 AD_getvalue4[0]=k_max2b;
438 2 // display_num1(42,1,k_max2b,1);
439 2 display_num(1,26,1,0,0,k_max2b);
440 2 }
441 1 else if(Ch2k==Turnaround_Power_0)
442 1 {
443 2 dprintf(42,1,"000",0);
444 2 dprintf(84,1,"000",0);
445 2 }
446 1 Turnaround_CornerORPower_Value3[0]=k_max2a/256;
447 1 Turnaround_CornerORPower_Value3[1]=k_max2a%256;
448 1 Turnaround_CornerORPower_Value3[2]=k_max2b/256;
449 1 Turnaround_CornerORPower_Value3[3]=k_max2b%256;
450 1 }
451 void Turnaround_CornerORPower_SendValue()
452 {
453 1 Ch1k=Ch2k=0;
454 1 CH1_init();
455 1 Ch1k=filter(1);
456 1 CH2_init();
457 1 Ch2k=filter(0);
458 1 dprintf(0,0,"转角:",0);
459 1 draw_bmp(33,0,8,Left);
460 1 draw_bmp(75,0,8,Right);
461 1 dprintf(0,1,"转矩:",0);
462 1 draw_bmp(33,1,8,Left);
463 1 draw_bmp(75,1,8,Right);
464 1 Nt1=(360.0/abs(Turnaround_Corner_360-Turnaround_Corner_0))*abs(Ch1k-Ck1);
465 1 k_ch1a=(int)Nt1;
466 1 if(Ch1k>Ck1)
467 1 {
468 2 k_max1a=k_ch1a;
469 2 display_num(1,76,0,0,1,k_ch1a);
470 2 dprintf(42,0,"0000",0);
471 2 Turnaround_CornerORPower_Value2[0]=k_max1a/256;
472 2 Turnaround_CornerORPower_Value2[1]=k_max1a%256;
473 2 Turnaround_CornerORPower_Value2[2]=0;
474 2 Turnaround_CornerORPower_Value2[3]=0;
475 2 }
476 1 if(Ch1k<Ck1)
477 1 {
478 2 k_max1a=k_ch1a;
479 2 display_num(1,34,0,0,1,k_max1a);
480 2 dprintf(84,0,"0000",0);
481 2 Turnaround_CornerORPower_Value2[0]=0;
482 2 Turnaround_CornerORPower_Value2[1]=0;
483 2 Turnaround_CornerORPower_Value2[2]=k_max1a/256;
484 2 Turnaround_CornerORPower_Value2[3]=k_max1a%256;
485 2 }
486 1 if(Ch1k==Ck1)
487 1 {
488 2 dprintf(42,0,"0000",0);
489 2 dprintf(84,0,"0000",0);
C51 COMPILER V7.50 KEY 09/26/2007 17:19:07 PAGE 9
490 2 Turnaround_CornerORPower_Value2[0]=0;
491 2 Turnaround_CornerORPower_Value2[1]=0;
492 2 Turnaround_CornerORPower_Value2[2]=0;
493 2 Turnaround_CornerORPower_Value2[3]=0;
494 2 }
495 1 Nt1=(40.0*(abs(Ch2k-Turnaround_Power_0)))/(abs(Turnaround_Power_200-Turnaround_Power_0));
496 1 k_ch1a=(int)Nt1;
497 1 if(Ch2k>Turnaround_Power_0)
498 1 {
499 2 k_max1a=k_ch1a;
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