📄 cdle-j20_main.lst
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293 3 {
294 4 Step=Y0/DX;
295 4 for(i=0;i<=Step;i++)
296 4 {
297 5 //X=i*DX;
298 5 Y=i*DX;
299 5 X=0;
300 5
301 5 DL1_=(Y-1150)/sqrt((950-X)*(950-X)+(1150-Y)*(1150-Y))*DX;///右电机
302 5 DL2_=(Y-1150)/sqrt((X+150)*(X+150)+(1150-Y)*(1150-Y))*DX;////左电机
303 5 //左右驱动电机 分别到达 DL1 DL2的距离
C51 COMPILER V7.02a CDLE_J20_MAIN 04/28/2007 10:09:25 PAGE 6
304 5 DriveMoter();
305 5
306 5 q=0;
307 5 b=0; /////////X0
308 5
309 5
310 5 s=Y/100; //cm
311 5 g=Y/10-s*10;
312 5 // Delay();
313 5 }
314 4
315 4 }
316 3
317 3
318 3 Fasheng_Flag=0;
319 3 }
320 2 if(Fasheng_Flag==2&&!KEY) ///////////走圆
321 2 {
322 3 if(X0<250||X0>800-250||Y0<250||Y0>1000-250)
323 3 goto Quit;
324 3
325 3 ThePos1=0;ThePos2=0;
326 3 P1=StepMoter[0];////////////初相
327 3 P2=StepMoter[0];
328 3
329 3 tempDL1=0.0;
330 3 tempDL2=0.0;
331 3 /*
332 3 Step=(X0-250)/DX; ////走初始直线;
333 3 K=Y0/(X0-250);
334 3
335 3 for(i=0;i<=Step;i++)
336 3 {
337 3 X=0+i*DX;
338 3 Y=K*X;
339 3 DL1_=((X-950)+(Y-1150)*K)/sqrt((950-X)*(950-X)+(1150-Y)*(1150-Y))*DX;
340 3 DL2_=((X+150)+(Y-1150)*K)/sqrt((X+150)*(X+150)+(1150-Y)*(1150-Y))*DX;
341 3
342 3 //左右驱动电机 分别到达 DL1 DL2的距离
343 3 DriveMoter();
344 3
345 3
346 3 q=X/100;
347 3 b=X/10-q*10; /////////X0
348 3
349 3
350 3 s=Y/100; //cm
351 3 g=Y/10-s*10; // Delay();
352 3 }
353 3 */
354 3 Step=500/DX; /////////走上半圆
355 3
356 3 DL1_=(Y0-1150)/sqrt((950-X0)*(950-X0)+(1150-Y0)*(1150-Y0))*DX;
357 3 DL2_=(Y0-1150)/sqrt((X0+150)*(X0+150)+(1150-Y0)*(1150-Y0))*DX;
358 3
359 3 DriveMoter(); ////////////////// 1 bu!
360 3
361 3
362 3 for(i=1;i<=Step;i++)
363 3 {
364 4 X=X0-250+i*DX;
365 4 Y=Y0+sqrt(250.0*250.0-(X-X0)*(X-X0));
C51 COMPILER V7.02a CDLE_J20_MAIN 04/28/2007 10:09:25 PAGE 7
366 4
367 4 //K=(X0-X)/sqrt(250.0*250.0-(X-X0)*(X-X0));
368 4 K=(X0-X)/(Y-Y0);//sqrt(250.0*250.0-(X-X0)*(X-X0));
369 4
370 4 GetDL12();
371 4 //左右驱动电机 分别到达 DL1 DL2的距离
372 4 DriveMoter();
373 4
374 4
375 4 q=X/100;
376 4 b=X/10-q*10; /////////X0
377 4
378 4
379 4 s=Y/100; //cm
380 4 g=Y/10-s*10; // Delay(); /////////////////////////////
381 4 }
382 3
383 3 //Step=500/DX; /////////////走下半圆
384 3
385 3 for(i=1;i<=Step;i++)
386 3 {
387 4 X=X0+250-i*DX;
388 4 Y=Y0-sqrt(250.0*250.0-(X-X0)*(X-X0));
389 4
390 4 K=(-X0+X)/(Y0-Y);//sqrt(250.0*250.0-(X-X0)*(X-X0));
391 4
392 4
393 4 GetDL12();
394 4 //左右驱动电机 分别到达 DL1 DL2的距离
395 4
396 4 DL1_=-DL1_;
397 4 DL2_=-DL2_;
398 4
399 4 DriveMoter();
400 4
401 4
402 4 q=X/100;
403 4 b=X/10-q*10; /////////X0
404 4
405 4
406 4 s=Y/100; //cm
407 4 g=Y/10-s*10; //Delay(); /////////////////////////////
408 4 }
409 3 Quit:;
410 3
411 3 Fasheng_Flag=0;
412 3
413 3 if(Fasheng_Flag==3&&!KEY) ///+++++
414 3 { ////////////////////////////// /p1.6
415 4
416 4 tempDL1=0.0;
417 4 tempDL2=0.0;
418 4 ///p1.5 p1.7////
419 4
420 4 X=X0;
421 4 Y=Y0;
422 4
423 4 if(P1_5|P1_6|P1_7) /////////// nei wei 1 wai wei 0;
424 4 {
425 5
426 5 K=0.5773; //30
427 5 DX=10;
C51 COMPILER V7.02a CDLE_J20_MAIN 04/28/2007 10:09:25 PAGE 8
428 5
429 5 if(P1_6&P1_7)
430 5 {
431 6 K=0.5773; //30
432 6 DX=10;
433 6 }
434 5 else if(!P1_6&!P1_7)
435 5 {
436 6 K=0.5773; //30
437 6 DX=-10;
438 6 }
439 5 else if(!P1_5&!P1_6)
440 5 {
441 6 K=-0.5773;
442 6 DX=10;
443 6 }
444 5 else if(P1_5&P1_6)
445 5 {
446 6 K=-0.5773;
447 6 DX=-10;
448 6 }
449 5
450 5 else
451 5 {
452 6 if(!P1_5&!P1_7)
453 6 {
454 7 DX=10;
455 7 }
456 6 else
457 6 {
458 7 DX=-10;
459 7 }
460 6
461 6 DL1_=(Y-1150)/sqrt((950-X)*(950-X)+(1150-Y)*(1150-Y))*DX;///右电机
462 6 DL2_=(Y-1150)/sqrt((X+150)*(X0+150)+(1150-Y)*(1150-Y))*DX;////左电机
463 6 //X0+=DX;
464 6 Y+=DX;
465 6
466 6 DriveMoter();
467 6
468 6 goto end;
469 6
470 6 }
471 5
472 5 GetDL12();
473 5 X+=DX;
474 5 Y+=K*DX;
475 5
476 5 DriveMoter();
477 5 }
478 4
479 4 end:;
480 4
481 4 Fasheng_Flag=0;
482 4 }
483 3
484 3
485 3 }
486 2 if(Fasheng_Flag==5&&!KEY) ///+++++
487 2 {
488 3 DELAYTIME=1;
489 3 DL2_=-5;
C51 COMPILER V7.02a CDLE_J20_MAIN 04/28/2007 10:09:25 PAGE 9
490 3 DL1_=0;
491 3 DriveMoter();
492 3 DELAYTIME=5;
493 3
494 3 }
495 2 if(Fasheng_Flag==9&&!KEY) ///+++++
496 2 {
497 3 DELAYTIME=1;
498 3
499 3 DL2_=5;
500 3 DL1_=0;
501 3 DriveMoter();
502 3 DELAYTIME=5;
503 3
504 3 }
505 2 if(Fasheng_Flag==6&&!KEY) ///+++++
506 2 {
507 3 DELAYTIME=1;
508 3
509 3 DL2_=0;
510 3 DL1_=-5;
511 3 DriveMoter();
512 3 DELAYTIME=5;
513 3
514 3 }
515 2 if(Fasheng_Flag==7&&!KEY) ///+++++
516 2 {
517 3 DELAYTIME=1;
518 3
519 3 DL2_=0;
520 3 DL1_=5;
521 3 DriveMoter();
522 3
523 3 DELAYTIME=5;
524 3
525 3 }
526 2
527 2 if(Fasheng_Flag==11&&!KEY) ///+++++
528 2 {
529 3 DELAYTIME+=2;
530 3 Fasheng_Flag=0;
531 3 }
532 2
533 2 if(Fasheng_Flag==12&&!KEY) ///----
534 2 {
535 3 if(DELAYTIME>2)
536 3 DELAYTIME-=2;
537 3 Fasheng_Flag=0;
538 3 }
539 2 if(Fasheng_Flag==13&&!KEY) /////////gai canshu DX 6 9
540 2 {
541 3 DX+=5;
542 3 Fasheng_Flag=0;
543 3 }
544 2
545 2 if(Fasheng_Flag==14&&!KEY) ////////////
546 2 {
547 3 if(DX>5)
548 3 DX-=5;
549 3 Fasheng_Flag=0;
550 3 }
551 2
C51 COMPILER V7.02a CDLE_J20_MAIN 04/28/2007 10:09:25 PAGE 10
552 2 if(Fasheng_Flag==15&&!KEY) /////////gai canshu DX 6 9
553 2 {
554 3 Coef+=0.01;
555 3 Fasheng_Flag=0;
556 3 }
557 2
558 2 if(Fasheng_Flag==16&&!KEY) ////////////
559 2 {
560 3 if(Coef>0.29)
561 3 Coef-=0.01;
562 3 Fasheng_Flag=0;
563 3 }
564 2 /*
565 2 if(Fasheng_Flag==17&&!KEY) /////////gai canshu DX 6 9
566 2 {
567 2 //Cof+=2;
568 2 Fasheng_Flag=0;
569 2 }
570 2
571 2 if(Fasheng_Flag==18&&!KEY) ////////////
572 2 {
573 2 //if(Cof>2)
574 2 //Cof-=2;
575 2 Fasheng_Flag=0;
576 2 }
577 2 */
578 2 if(Button)
579 2 {
580 3 Button=0;
581 3
582 3 // b=GetCode/100;
583 3 // s=(GetCode-b*100)/10;
584 3 // g=GetCode-b*100-s*10;
585 3
586 3 for(a_=0; a_<500; a_++)
587 3 for(k=0; k<60; k++)
588 3 P3_3=0;
589 3 P3_3=1;
590 3 }
591 2
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