main.c

这里有很多我自己做的凌阳单片机源程序

#include<spce061a_chf.h>
#include"bit.h"
#include"qiao2.h"
//extern up_flag;
//unsigned int state_flag=0;
extern sec;
///////////////////////////////////////////
//函数：int main(void)
//描述：寻迹，开车，平衡判断
//参数：无
//返回：无
/////////////////////////////////////////////
int main(void)
{
	unsigned int k=0;
	init_IO();	
	while(1)
	{
		sec=0;
lab11:	while((P1_0==0)&(P1_6==0))
		{		
			control_goback();//还要测试速度？？？？？？？？？？？？？？？
			delay();
			delay();				
			control_stop();
			delay();				
		}
		while(P1_0==1)
		{
			control_left();
			//delay();
			//delay();
			//delay();
			//control_stop();				
		}
		while(P1_6==1)
		{
			control_right();	
			//delay();
			//delay();
		//	delay();
		//	control_stop();				
		}
		control_stop();	
		if(P1_0==0)
		{
			control_stop();	
			delay();
			if(P1_6==0)
			{
				goto lab11;
			}
		}		
		control_stop();//走到平衡白线
		sec=0;
		P1_15=1;//点亮指示灯
		while(sec<5);
		sec=0;
		control_goback();
		delay();
		delay();
		delay();	
		delay();
		delay();
		delay();
lab12:	while((P1_1==0)&(P1_7==0))
		{		
			control_up();//还要测试速度？？？？？？？？？？？？？？？
			delay();
			delay();				
			control_stop();
			delay();				
		}
		while(P1_1==1)
		{
			control_left();
			delay();
			delay();
			delay();
			control_stop();				
		}
		while(P1_7==1)
		{
			control_right();	
			delay();
			delay();
			delay();
			control_stop();				
		}
		if(P1_1==0)
		{
			if(P1_7==0)
			{
				goto lab12;
			}
		}
		sec=0;		
		while(sec<5);//停留5秒	
		sec=0;		
		//control_goback(0,0);//返回A点		
lab3:	while((P1_0==0)&(P1_6==0))//启用后轮传感器
		{		
			control_goback();//还要测试速度？？？？？？？？？？？？？？？
			delay();
			delay();		
			control_stop();
			delay();
		}
		while(P1_0==1)//还要测试这两个传感器
		{
			control_left();		
			delay();
			delay();
			delay();	
			delay();						
		}
		while(P1_6==1)
		{
			control_right();	
			delay();
			delay();
			delay();	
			delay();		
		}
		if(P1_0==1)
		{
			if(P1_6==1)
			{
				control_stop();//说明到达A端
				k+=1;
				if(k<2)
				{
					goto lab3;
				}
			}
		}
		else
		{
			goto lab3;
		}		
	} 
	return 0;		
}