followline.lst

蛇形机器人程序

C51 COMPILER V7.09   FOLLOWLINE                                                            07/01/2004 21:24:08 PAGE 1   


C51 COMPILER V7.09, COMPILATION OF MODULE FOLLOWLINE
OBJECT MODULE PLACED IN FollowLine.OBJ
COMPILER INVOKED BY: D:\Keil\C51\BIN\C51.EXE FollowLine.c OMF2 ROM(COMPACT) OPTIMIZE(SIZE) REGFILE(.\FollowLine.ORC) BRO
                    -WSE DEBUG

line level    source

   1          /*
   2                  ┍┑   ┍┑     ┍┑   ┍┑
   3                  ┕┙   ┕┙     ┕┙   ┕┙　
   4                          5         2.5     5
   5          */
   6          
   7          /*                      parameters needed to be adjusted
   8          
   9          */
  10          
  11          #include<reg52.h>
  12          #include<FollowLine.h>
  13          #include<intrins.h>
  14          
  15          //~~~~~~~~~~~~~~~~~~~~~
  16          bit DirectionRight;
  17          bit DirectionLeft;
  18          
  19          unsigned char iLoop = 0x00;     //loop time control
  20          unsigned char iSensorConfirm = 0x00;    //Status confirm
  21          unsigned int iStopStatus = 0x00;
  22          
  23          //movement status
  24          char PreLeftSpeed = 0;          //Speed Status
  25          char PreRightSpeed = 0;
  26          bit PreLeftDirection = 1 ;
  27          bit PreRightDirection = 1;      
  28          
  29          //~~~~~~~~~~~~~~~~~Function Declaration~~~~~~~~~~~~~~~~~~~~
  30          extern void Delay(unsigned int time);
  31          void MotorLeft(char Speed,bit Direction);
  32          void MotorRight(char Speed,bit Direction);
  33          void FollowLine(char Speed);                    // follow normal while line
  34          void Stop(void);
  35          
  36          //void TurnLeft(char Speed);
  37          //
  38          void MotorLeft(char Speed,bit Direction)
  39          {
  40   1              if((Speed != PreLeftSpeed)||(PreLeftDirection != Direction))     // 
  41   1              {
  42   2                      DirectionLeft = Direction; //forward
  43   2                      PreLeftDirection = DirectionLeft;
  44   2                      LeftSpeed  = Speed;
  45   2                      PreLeftSpeed = Speed;   //save speed status
  46   2                      iLeftCounter = 0;
  47   2              }
  48   1              if (TR0 == 0)             //open T0 is necessary
  49   1              {TR0 = 1;}
  50   1              else
  51   1              {}
  52   1      
  53   1      }
  54          void MotorRight(char Speed,bit Direction)
C51 COMPILER V7.09   FOLLOWLINE                                                            07/01/2004 21:24:08 PAGE 2   

  55          {
  56   1              if((Speed != PreRightSpeed)||(PreRightDirection != Direction))   // 
  57   1              {
  58   2                      DirectionRight = Direction; //forward
  59   2                      PreRightDirection = DirectionRight;
  60   2                      RightSpeed = Speed;
  61   2                      PreRightSpeed = Speed;  //save speed status
  62   2                      iRightCounter = 0; 
  63   2              }
  64   1              if (TR0 == 0)
  65   1              {TR0 = 1;}
  66   1              else
  67   1              {}                                              
  68   1      
  69   1      }
  70          
  71          void Stop(void)
  72          {
  73   1              TR0 = 0;
  74   1              DriveLeftMo1 = 0;
  75   1              DriveLeftMo2 = 0;
  76   1              DriveRightMo1 = 0;
  77   1              DriveRightMo2 = 0;
  78   1              _nop_();
  79   1              _nop_();
  80   1              PreLeftSpeed = 0;                                                 
  81   1              PreRightSpeed = 0;
  82   1      }
  83          
  84          


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =     84    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      6    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =      4       2
   EDATA SIZE       =   ----    ----
   HDATA SIZE       =   ----    ----
   XDATA CONST SIZE =   ----    ----
   FAR CONST SIZE   =   ----    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)