version.txt

蛇形机器人程序

 /*
 		FollowLine 3 test basic application
 */
 //~~~~~~~~~~~~~~~~~~~~~~~~~
 April 16th 
  * Build the Structrue 
  		Serial in a Status word CurLineStatues
		open T1 for Baud Rate 1202
									  
//~~~~~~~~~~~~~~~~~~~~~~~~~
 April 17th 
 * Build true Right

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~
April 18th
* add sensor2 to followling in aiming test whole arithmetic

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~
April 20th
* discard the state loop configration arithmetic
	test basic 2 sensor
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
April 23th
* mainly for 4 sensor in one line arithmetic
* start to work
*	dicard serial out and interrupt

version 2 only for test 10 even sensor dectector
	do not change any details
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
April 28th
high speed rotation test fined
		if (MidSensor1)
		{

				MotorLeft(6,1);
				MotorRight(6,0);
				Delay(80);
			
		}
		else //((!CurStaMidSensor1))
		{
			Stop();
			_nop_();
			_nop_();
		   	MotorLeft(10,0);
			MotorRight(10,1);
			Delay(5000);
			Stop();
			Delay(50000);
		}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
April 29th
for xiaomao robot
all parameters are fine adjusted
		//right
		//delta
		MotorLeft(10,1);
		MotorRight(10,0);
		Delay(300);
		//
		MotorLeft(6,1);
		MotorRight(6,0);
		Delay(3700);
		
		//left
		//delta
		MotorLeft(10,0);
		MotorRight(10,1);
		Delay(50);
		//
		MotorLeft(6,0);
		MotorRight(6,1);
		Delay(3700);

		//right
				//delta
		MotorLeft(10,0);
		MotorRight(10,1);
		Delay(50);
		//
		MotorLeft(6,0);
		MotorRight(6,1);
		Delay(3700);

		//left
		MotorLeft(10,1);
		MotorRight(10,0);
		Delay(300);
		//
		MotorLeft(6,1);
		MotorRight(6,0);
		Delay(3700);
		Stop();
	   	Delay(50000);
		Delay(50000);
		
//~~~~~~~~~~~~~~~~~~~
may 4th 
turn left turn right fine	

//
may 7th
TwoScoreMidLeft all right
BUG* FollowLine() + Delay() can not represent as Followline for time in Delay

//may 8th
add serial.c
serialOut()
serialin()
//may 15th
new verision