📄 mainloop.lst
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1122 4 }
1123 3 }
1124 2 else{//shun yuan
1125 3 if ((cc == 2)||(cc == 3)){
1126 4 if (XBYTE[xy(cur_order)] == 0){
1127 5 if (anti_work_flag == 0)
1128 5 cur_off ++;
1129 5 else
1130 5 cur_off --;
1131 5 }
1132 4 if (anti_work_flag == 0){
1133 5 cur_x ++;
1134 5 x_z();
1135 5 }
1136 4 else{
1137 5 cur_x --;
1138 5 x_f();
1139 5 }
1140 4 }
1141 3 else if ((cc == 6)||(cc == 7)){
1142 4 if (XBYTE[xy(cur_order)] == 0){
1143 5 if (anti_work_flag == 0)
1144 5 cur_off ++;
1145 5 else
1146 5 cur_off --;
1147 5 }
1148 4 if (anti_work_flag == 0){
1149 5 cur_x --;
1150 5 x_f();
1151 5 }
1152 4 else{
1153 5 cur_x ++;
1154 5 x_z();
1155 5 }
1156 4 }
1157 3 else if ((cc == 4)||(cc == 5)){
1158 4 if (XBYTE[xy(cur_order)] == 1){
1159 5 if (anti_work_flag == 0)
1160 5 cur_off ++;
1161 5 else
1162 5 cur_off --;
1163 5 }
1164 4 if (anti_work_flag == 0){
1165 5 cur_y ++;
1166 5 y_z();
1167 5 }
1168 4 else{
1169 5 cur_y --;
C51 COMPILER V7.09 MAINLOOP 10/14/2004 20:25:36 PAGE 20
1170 5 y_f();
1171 5 }
1172 4 }
1173 3 else{
1174 4 if (XBYTE[xy(cur_order)] == 1){
1175 5 if (anti_work_flag == 0)
1176 5 cur_off ++;
1177 5 else
1178 5 cur_off --;
1179 5 }
1180 4 if (anti_work_flag == 0){
1181 5 cur_y --;
1182 5 y_f();
1183 5 }
1184 4 else{
1185 5 cur_y ++;
1186 5 y_z();
1187 5 }
1188 4 }
1189 3 }
1190 2
1191 2 f1 = fabs((cur_x*1.0-bx)*(cur_x*1.0-bx)+(cur_y*1.0-by)*(cur_y*1.0-by)-r);
1192 2 if (xyt == 2){// ni yuan
1193 3 if ((cc == 1)||(cc == 4)){
1194 4 if (f1 > fabs((cur_x*1.0-1-bx)*(cur_x*1.0-1-bx)+(cur_y*1.0-by)*(cur_y*1.0-by)-r)){
1195 5 if (XBYTE[xy(cur_order)] == 0){
1196 6 if (anti_work_flag == 0)
1197 6 cur_off ++;
1198 6 else
1199 6 cur_off --;
1200 6 }
1201 5 if (anti_work_flag == 0){
1202 6 cur_x --;
1203 6 x_f();
1204 6 }
1205 5 else{
1206 6 cur_x ++;
1207 6 x_z();
1208 6 }
1209 5 }
1210 4 }
1211 3 if ((cc == 2)||(cc == 7)){
1212 4 if (f1 > fabs((cur_x*1.0-bx)*(cur_x*1.0-bx)+(cur_y*1.0+1-by)*(cur_y*1.0+1-by)-r)){
1213 5 if (XBYTE[xy(cur_order)] == 1){
1214 6 if (anti_work_flag == 0)
1215 6 cur_off ++;
1216 6 else
1217 6 cur_off --;
1218 6 }
1219 5 if (anti_work_flag == 0){
1220 6 cur_y ++;
1221 6 y_z();
1222 6 }
1223 5 else{
1224 6 cur_y --;
1225 6 y_f();
1226 6 }
1227 5 }
1228 4 }
1229 3 if ((cc == 3)||(cc == 6)){
1230 4 if (f1 > fabs((cur_x*1.0-bx)*(cur_x*1.0-bx)+(cur_y*1.0-1-by)*(cur_y*1.0-1-by)-r)){
1231 5 if (XBYTE[xy(cur_order)] == 1){
C51 COMPILER V7.09 MAINLOOP 10/14/2004 20:25:36 PAGE 21
1232 6 if (anti_work_flag == 0)
1233 6 cur_off ++;
1234 6 else
1235 6 cur_off --;
1236 6 }
1237 5 if (anti_work_flag == 0){
1238 6 cur_y --;
1239 6 y_f();
1240 6 }
1241 5 else{
1242 6 cur_y ++;
1243 6 y_z();
1244 6 }
1245 5 }
1246 4 }
1247 3 if ((cc == 5)||(cc == 8)){
1248 4 if (f1 > fabs((cur_x*1.0+1-bx)*(cur_x*1.0+1-bx)+(cur_y*1.0-by)*(cur_y*1.0-by)-r)){
1249 5 if (XBYTE[xy(cur_order)] == 0){
1250 6 if (anti_work_flag == 0)
1251 6 cur_off ++;
1252 6 else
1253 6 cur_off --;
1254 6 }
1255 5 if (anti_work_flag == 0){
1256 6 cur_x ++;
1257 6 x_z();
1258 6 }
1259 5 else{
1260 6 cur_x --;
1261 6 x_f();
1262 6 }
1263 5 }
1264 4 }
1265 3 }
1266 2 else if (xyt == 3){// shun yuan
1267 3 if ((cc == 1)||(cc == 4)){
1268 4 if (f1 > fabs((cur_x*1.0+1-bx)*(cur_x*1.0+1-bx)+(cur_y*1.0-by)*(cur_y*1.0-by)-r)){
1269 5 if (XBYTE[xy(cur_order)] == 0){
1270 6 if (anti_work_flag == 0)
1271 6 cur_off ++;
1272 6 else
1273 6 cur_off --;
1274 6 }
1275 5 if (anti_work_flag == 0){
1276 6 cur_x ++;
1277 6 x_z();
1278 6 }
1279 5 else{
1280 6 cur_x --;
1281 6 x_f();
1282 6 }
1283 5 }
1284 4 }
1285 3 if ((cc == 2)||(cc == 7)){
1286 4 if (f1 > fabs((cur_x*1.0-bx)*(cur_x*1.0-bx)+(cur_y*1.0-1-by)*(cur_y*1.0-1-by)-r)){
1287 5 if (XBYTE[xy(cur_order)] == 1){
1288 6 if (anti_work_flag == 0)
1289 6 cur_off ++;
1290 6 else
1291 6 cur_off --;
1292 6 }
1293 5 if (anti_work_flag == 0){
C51 COMPILER V7.09 MAINLOOP 10/14/2004 20:25:36 PAGE 22
1294 6 cur_y --;
1295 6 y_f();
1296 6 }
1297 5 else{
1298 6 cur_y ++;
1299 6 y_z();
1300 6 }
1301 5 }
1302 4 }
1303 3 if ((cc == 3)||(cc == 6)){
1304 4 if (f1 > fabs((cur_x*1.0-bx)*(cur_x*1.0-bx)+(cur_y*1.0+1-by)*(cur_y*1.0+1-by)-r)){
1305 5 if (XBYTE[xy(cur_order)] == 1){
1306 6 if (anti_work_flag == 0)
1307 6 cur_off ++;
1308 6 else
1309 6 cur_off --;
1310 6 }
1311 5 if (anti_work_flag == 0){
1312 6 cur_y ++;
1313 6 y_z();
1314 6 }
1315 5 else{
1316 6 cur_y --;
1317 6 y_f();
1318 6 }
1319 5 }
1320 4 }
1321 3 if ((cc == 5)||(cc == 8)){
1322 4 if (f1 > fabs((cur_x*1.0-1-bx)*(cur_x*1.0-1-bx)+(cur_y*1.0-by)*(cur_y*1.0-by)-r)){
1323 5 if (XBYTE[xy(cur_order)] == 0){
1324 6 if (anti_work_flag == 0)
1325 6 cur_off ++;
1326 6 else
1327 6 cur_off --;
1328 6 }
1329 5 if (anti_work_flag == 0){
1330 6 cur_x --;
1331 6 x_f();
1332 6 }
1333 5 else{
1334 6 cur_x ++;
1335 6 x_z();
1336 6 }
1337 5 }
1338 4 }
1339 3 }
1340 2 if (anti_work_flag == 0){
1341 3 ll = (long)(*((long *)(&(XBYTE[counterlen(cur_order)]))));
1342 3 if (cur_off >= ll){
1343 4 XBYTE[xytype(cur_order)] = 0;
1344 4 cur_order1 = (cur_order+1)%MAX_ORDER;
1345 4 cur_order = (cur_order+1)%MAX_ORDER;
1346 4 cur_off = 0;
1347 4 if (XBYTE[xytype(cur_order)] == 0){
1348 5 work_status = 2;
1349 5 e_order = 0;
1350 5 cur_order1 = 0;
1351 5 cur_order = 0;
1352 5 send_req_order(0);
1353 5 close_gao_pin();
1354 5 }
1355 4 }
C51 COMPILER V7.09 MAINLOOP 10/14/2004 20:25:36 PAGE 23
1356 3 }
1357 2 else{
1358 3 if (cur_off == 0){
1359 4 anti_work_flag = 0;
1360 4 }
1361 3 }
1362 2 }
1363 1 else{
1364 2 }
1365 1
1366 1 if (anti_work_flag == 1){
1367 2 if (loop_off - cur_off >= 200){
1368 3 cur_jing = old_cur_jing;
1369 3 anti_work_flag = 0;
1370 3 }
1371 2 }
1372 1 RAMCS = 1;
1373 1 MCU_D12CS = 0;
1374 1 }
1375
1376 void send_req_order(char order)
1377 {
1378 1 cc = 0x85;
1379 1 RAMCS = 1;
1380 1 MCU_D12CS = 0;
1381 1 D12_WriteEndpoint(3, 1, &cc);
1382 1 }
*** WARNING C280 IN LINE 1376 OF MAINLOOP.C: 'order': unreferenced local variable
1383
1384 open_gao_pin()
1385 {
1386 1 MCU_D12CS = 1;
1387 1 RAMCS = 0;
1388 1 if (xiangxlx == 0)
1389 1 ch = get_x_y_port_byte(cur_x_step_order%10);
1390 1 else
1391 1 ch = get_x_y_port_byte(cur_x_step_order%6);
1392 1 ch = 255 - ch;
1393 1 ch = ch * 8;
1394 1 ch = ch & (0xff-7);
1395 1 out_8255_1_c(1); // gaopin
1396 1 out_8255_1_a();
1397 1 ch += 4;
1398 1 out_8255_1_a();
1399 1 ch -= 4;
1400 1 out_8255_1_a();
1401 1
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