main.lst

蛇形机器人程序

C51 COMPILER V7.09   MAIN                                                                  06/13/2004 13:53:57 PAGE 1   


C51 COMPILER V7.09, COMPILATION OF MODULE MAIN
OBJECT MODULE PLACED IN Main.OBJ
COMPILER INVOKED BY: D:\Keil\C51\BIN\C51.EXE Main.c OMF2 ROM(COMPACT) OPTIMIZE(SIZE) REGFILE(.\FollowLine.ORC) BROWSE DE
                    -BUG

line level    source

   1          /*
   2                  Main Prgram
   3          */
   4          
   5          #include<REG2051.h>
   6          #include<FollowLine.h>
   7          #include<intrins.h>
   8          //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   9          #define CatchBoxTime 2000               // original time is 2000
  10          #define CalibrateLine  2000
  11          #define BackLineTime 2500
  12          
  13          bit FrontFlag = 0;
  14          bit StopFlag = 0;
  15          bit BackTouchFlag = 0;  //touching sensor to the 2 score zone
  16          bit ClampFlag = 0;              // 1 = 
  17          
  18          unsigned int iStopTime = 0;
  19          //~~~~~~~~~~~~~~~~~Function Declaration~~~~~~~~~~~~~~~~~~~~
  20          void Delay(unsigned int time);
  21          extern void initial(void);
  22          
  23          //***************************************************
  24          //~~~~~~~~~~~~~~~~Main function~~~~~~~~~~~~~~~~~~~~~*
  25          //***************************************************
  26          void main (void)
  27          {
  28   1      
  29   1              _nop_();
  30   1              Delay(1);  //.25ms
  31   1              _nop_();
  32   1              initial();                                                
  33   1              _nop_();
  34   1      
  35   1       //     start up 
  36   1      
  37   1      
  38   1              MotorLeft(1,1);
  39   1              MotorRight(1,1);
  40   1              Delay(800);
  41   1              MotorLeft(3,1);
  42   1              MotorRight(3,1);
  43   1              Delay(800);     
  44   1      
  45   1              MotorLeft(31,1);
  46   1              MotorRight(31,1);
  47   1              Delay(15000);
  48   1              Stop();
  49   1              Delay(1000);
  50   1      
  51   1      
  52   1              MotorLeft(29,1);
  53   1              MotorRight(29,0);
  54   1              Delay(5300);
C51 COMPILER V7.09   MAIN                                                                  06/13/2004 13:53:57 PAGE 2   

  55   1      
  56   1              Stop();
  57   1              Delay(1000);
  58   1      
  59   1              while(!CloseSensor1)
  60   1              {       
  61   2                      MotorLeft(28,1);
  62   2                      MotorRight(28,1);
  63   2              }
  64   1              MotorLeft(29,1);
  65   1              MotorRight(31,1);
  66   1              Delay(60000);
  67   1      
  68   1              while(CloseSensor1)
  69   1              {
  70   2                      MotorLeft(29,1);
  71   2                      MotorRight(31,1);
  72   2              }
  73   1              Stop();
  74   1              while(1);
  75   1              
  76   1              /*
  77   1              while(LineCounterP < 3) // right side zone
  78   1                                                              // move right to out of start up zone
  79   1              {
  80   1                      SensorSta();
  81   1                      FollowLine(16);                    //origanl  8 
  82   1              }
  83   1              LineCounterP = 0;
  84   1              */
  85   1      
  86   1                      
  87   1      
  88   1      }
  89          
  90          
  91          //~~~~~~~~~Delay Function~~~~~~~~~~~~~~~~~~~~~~~
  92          void Delay(unsigned int time) //time /ms
  93          {
  94   1              unsigned int i;
  95   1              unsigned char j;
  96   1              time *=2;
  97   1              for (i=0;i<time;i++)
  98   1              {
  99   2                      _nop_ ();
 100   2                      for (j=0;j<10;j++)
 101   2                      {
 102   3                              _nop_ ();
 103   3                      }
 104   2              }
 105   1      } 
 106          


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    204    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      2    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =      4    ----
C51 COMPILER V7.09   MAIN                                                                  06/13/2004 13:53:57 PAGE 3   

   EDATA SIZE       =   ----    ----
   HDATA SIZE       =   ----    ----
   XDATA CONST SIZE =   ----    ----
   FAR CONST SIZE   =   ----    ----
END OF MODULE INFORMATION.


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