freescale

Freescale 系列单片机常用模块与综合系统设计

#include  "Variables.h"
#include  "Sensor.h"
#include  "Car_Control.h"

void sensor_check(void)
{
     switch (sensor_state) 
     {
       case move:
        move_car();
        sensor_timer = 0;
        sensor_state = right;
       break;
       
       case right:
       if (sensor_timer >= 2) 
       {
            Sensor_MeasureChan(0, 0x01) ;
            Sensor_GetChanValue16(0x01, &rightRd);
            sensor_state = left;
       }
       else 
       {
          sensor_state = right;
       }
       break;

       case left:
       if (sensor_timer >= 4) 
       {
            Sensor_MeasureChan(0, 0x00) ;
            Sensor_GetChanValue16(0x00, &leftRd); 
            
            sensor_state = middle;
       }
       else 
       {
          sensor_state = left;
       }
       break;

       case middle:
       if (sensor_timer >= 6) 
       {
            Sensor_MeasureChan(0, 0x02) ;
            Sensor_GetChanValue16(0x02, &midRd); 
            
            sensor_state = move;       
       }
       else 
       {
           sensor_state = middle;
       }
       break;
     }
}