sda.c

本人学习单片机一年多时间厚参加全国电子设计大赛的程序以及赛前练习的程序。

#include<reg51.h>
#include<math.h>

sbit P2_0=P2^0;
sbit P3_2=P3^2;
sbit P3_3=P3^3;
sbit P3_4=P3^4;


unsigned int R=20,NOWL=1,NOWR=1,dirl,dirr,step1,step2,xx;
unsigned int CODE[9]={0x00,0x88,0xCC,0x44,0x66,0x22,0x33,0x11,0x99};
unsigned char mov=0x88,linshi;
float PI=3.141592653;
double x=0.0,y=-20.0,l1,l2,l3,l4,step11,step22,zancun,xiaoshul,xiaoshur,wuchal,wuchar;


move(unsigned int a,unsigned int b,unsigned int c,unsigned int d);
void movestart(void);
void moveend(void);
unsigned int getkey(void);
delay(unsigned int t);

main()
{
unsigned int c,j;
unsigned char key=0;
l1=sqrt(55*55+(65+R)*(65+R));
l2=l1;

P1=0x00;
P2_0=0;
P3_2=0;
P3_3=0;
P3_4=0;
for(;;)
{
key=getkey();
if(key==1)
{
movestart();
for(j=0;j<255;j++)
 delay(255);
for(c=1;c<=120;c++)
 {x=R*sin(c*PI/60);
  y=R*cos(c*PI/60);
  l3=sqrt((55+x)*(55+x)+(65+y)*(65+y));
  l4=sqrt((55-x)*(55-x)+(65+y)*(65+y));
  if(l3<l1)
   {dirl=3;
    step11=(l1-l3)/0.075229;
    step1=step11;
    xiaoshul=step11-step1;
	wuchal=xiaoshul+wuchal;
    }
  else
   {dirl=1;
    step11=(l3-l1)/0.075229;
    step1=step11;
    xiaoshul=step11-step1;
	wuchal=xiaoshul-wuchal;
	}

  if(l4<l2)
   {dirr=3;
    step22=(l2-l4)/0.075229;
    step2=step22;
    xiaoshur=step22-step2;
	wuchar=xiaoshur+wuchar;
    }
  else
   {dirr=1;
    step22=(l4-l2)/0.075229;
    step2=step22;
    xiaoshur=step22-step2;
	wuchar=xiaoshur-wuchar;
	}
  if(wuchal>1.0)
    {mov=mov&0xF0;
     NOWL=NOWL+1; 
     linshi=CODE[NOWL]&0x0F;
	 mov=mov|linshi;
	 P1=mov;
	 wuchal=wuchal-1.0;
	 }
  if(wuchal<-1.0)
    {mov=mov&0xF0;
     NOWL=NOWL-1; 
     linshi=CODE[NOWL]&0x0F;
	 mov=mov|linshi;
	 P1=mov;
	 wuchal=wuchal+1.0;
	 }
  if(wuchal>1.0)
    {mov=mov&0x0F;
     NOWR=NOWR+1; 
     linshi=CODE[NOWR]&0xF0;
	 mov=mov|linshi;
	 P1=mov;
	 wuchal=wuchal-1.0;
	 }
  if(wuchar<-1.0)
    {mov=mov&0x0F;
     NOWR=NOWR+1; 
     linshi=CODE[NOWR]&0xF0;
	 mov=mov|linshi;
	 P1=mov;
	 wuchar=wuchar+1.0;
	 }
  step1=step11;
  step2=step22;
  move(step1,step2,dirl,dirr);
  l1=l3;
  l2=l4;
  }
moveend();
break;
}
}          /*end for*/
for(;;);
}

delay(unsigned int t)
{int i;
 for(i=0;i<t;i++)
 ;
 }

move(unsigned int a,unsigned int b,unsigned int c,unsigned int d)
{unsigned int max,i,j,k,l;
 k=a;
 l=b;
 max=(a>b)?a:b;
 for(i=0;;i++)
 {if(k>0)
   {mov=mov&0xF0;
	 if(c>2)
     {NOWL=NOWL+1;
      if(NOWL>8)
       NOWL=1;
		}
	 else
     {NOWL=NOWL-1;
      if(NOWL<1)
       NOWL=8;
		}
    linshi=CODE[NOWL]&0x0F;
    mov=mov|linshi;
    k--;
	 }
  if(l>0)
   {mov=mov&0x0F;
	 if(d>2)
     {NOWR=NOWR+1;
      if(NOWR>8)
       NOWR=1;
		}
	 else
     {NOWR=NOWR-1;
      if(NOWR<1)
       NOWR=8;
		}
    linshi=CODE[NOWR]&0xF0;
    mov=mov|linshi;
    l--;
	 }
   P1=mov;
   for(j=0;j<50;j++)
    delay(120);
   max--;
   if(max==1) break;
   }
}

unsigned int getkey()
{
unsigned char f;
f=0;
	if (P3_2==1) f=1;
	if (P3_3==1) f=2;
	if (P3_4==1) f=3;
	if (P2_0==1) f=4;
	delay(255);
	return f;
}

void movestart(void)
{ unsigned int i=1;
  l3=sqrt(55*55+65*65);
  l4=l3;
  step1=(l1-l3)/0.075229;
  step2=(l2-l4)/0.075229;
  move(step1,step2,i,i);
}

void moveend(void)
{
unsigned int i=3;
l1=sqrt(55*55+(65+R)*(65+R));
l2=l1;
l3=sqrt(55*55+65*65);
l4=l3;
step1=(l1-l3)/0.075229;
step2=(l2-l4)/0.075229;
move(step1,step2,i,i);
}