followline.h

蛇形机器人程序

#ifndef __SENSOR_H__
#define __SENSOR_H__
#include<REG2051.h>

#define TIMER0H 0X68
#define TIMER0L 0x68

#define TIMER1H 0XE6//(65536-20000)/256
#define TIMER1L 0XE6//(65536-20000)%256

//~~~~~~~~~~~~~~~~
#define Cycle 32

sbit CloseSensor1=P3^3;    //close 1
sbit HozSensor1=P1^0;
sbit HozSensor2=P3^2; 	
sbit MidSensor1=P3^5; 	
sbit MidSensor2=P3^4; 	

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~For white line~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~
sbit DriveLeftMo1 = P1^7;
sbit DriveLeftMo2 = P1^6;
sbit DriveRightMo1 = P3^0;
sbit DriveRightMo2 = P3^1;

//~~~~~~~~~~~~~~~~~~
extern bdata unsigned char LineCurStatus;
extern bdata unsigned char LinePreStatus;

extern bit CurStaMidSensor1;
extern bit CurStaMidSensor2;
extern bit CurStaHozSensor1;		//Right
extern bit CurStaHozSensor2;		//Left
extern bit PreStaMidSensor1;
extern bit PreStaMidSensor2;
extern bit PreStaHozSensor1;		//Right
extern bit PreStaHozSensor2;		//Left

extern bit FrontFlag;
extern bit StopFlag;
extern bit BackTouchFlag;
extern bit ClampFlag;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~
extern unsigned char LineCounterP;		// Downside triggle
extern unsigned char LineCounterN;		// Upside triggle

//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
extern bit FrontFlag; 					//flag of object in the front of the robot
extern unsigned int iFollowLineTime;
extern unsigned int iStopTime;

//~~~~~~~~~~~~~~~~~~~~~~~~~~~
extern unsigned char MidSensor1Confirm ;
extern unsigned char MidSensor2Confirm ;
extern unsigned char HozSensor1Confirm ;
extern unsigned char HozSensor1Confirm ;


//extern unsigned int SpeedRight,SpeedLeft;
// From xiaomao
extern char iRightCounter;			//Current high level Counter
extern char iLeftCounter;		 		
extern char LeftSpeed;
extern char RightSpeed;			// MotorSpeed
extern bit DirectionRight;
extern bit DirectionLeft;		//motor direction

extern const unsigned char LineCrossDelay;
extern unsigned int iStopStatus; //identify the forced to stop
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
extern void PWM();	   
extern void Delay(unsigned int time);
extern void SensorSta(void);
extern void UpdateStatus(void);
extern void MotorLeft(char Speed,bit Direction);
extern void MotorRight(char Speed,bit Direction);
extern void Stop(void);
extern void FollowLine(char Speed);	
extern void TurnLeft(char Speed);
extern void TurnRight(char Speed);

//~~~~~~~~~~~~~~~~~~~~~~~~~~~
#endif