📄 main.c
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#include "bsrSD.h"
#include "robot.h"
extern void RobotSystemInit(void);
extern unsigned int IsFirstDownLoad(void);
extern void FormatFlash(void);
extern void TrainFiveCommand(void);
extern void SaveFiveCommand(unsigned int uiAddr);
extern void ImportFiveCommand(unsigned int uiAddr_Import);
extern unsigned int TrainWord(unsigned int WordID,unsigned int SndIndex);
extern void PlaySnd(unsigned int SndIndex);
extern void Robot_DanceAgain(unsigned int n);
extern void Robot_Dance(unsigned int n);
extern void Robot_Go(unsigned int n);
extern void Robot_Backup(unsigned int n);
extern void Robot_TurnLeft(unsigned int n);
extern void Robot_TurnRight(unsigned int n);
extern void Robot_HeadTurnLeft(unsigned int n);
extern void Robot_HeadTurnRight(unsigned int n);
extern void Robot_Shoot_Prepare(unsigned int n);
extern void Robot_Shoot2(unsigned int n);
extern void Robot_Shoot_Five(unsigned int n);
extern void F_FlashWrite1Word(unsigned int,unsigned int);
extern void F_FlashErase(int);
extern void Delay(unsigned int);
int main(void)
{
unsigned int uiFlagFirst; //是否为第一次下载
unsigned int uiRes; //识别结果
unsigned int uiActivated; //是否出于待命状态
unsigned int uiTimerCount; //时间是否超时
unsigned int uiBS_Team; //用于标识现在是第几组命令在内存当中
unsigned int uiKey; //存储键盘值，按下将重新训练
RobotSystemInit();
uiActivated = 0;
uiFlagFirst = IsFirstDownLoad(); //判断是否为第一次下载程序
if(uiFlagFirst == 1)
{
FormatFlash(); //格式化需要存储命令的存储器
TrainFiveCommand(); //训练需要的五条命令（一组）
SaveFiveCommand(0xf700); //存储五条命令
PlaySnd(OK); //播放Ok,Let's go,表示一组命令存储结束
PlaySnd(LETUSGO);
TrainFiveCommand();
SaveFiveCommand(0xf900);
PlaySnd(FOLLOWME);
TrainFiveCommand();
SaveFiveCommand(0xfb00);
PlaySnd(HO);
PlaySnd(HOO);
PlaySnd(HOO);
PlaySnd(HOOO);
PlaySnd(HO);
PlaySnd(HOO);
PlaySnd(HOO);
PlaySnd(HOOO);
uiFlagFirst = 0xaaaa;
F_FlashWrite1Word(0xfd00,0xaaaa);
}
ImportFiveCommand(0xf700);
uiBS_Team = 0;
Loop:
BSR_InitRecognizer(BSR_MIC); //初始化识别器
while(1)
{
*(unsigned int *)0x7012 = 1; //清看门狗
//开始识别命令
uiRes = BSR_GetResult(); //取得识别结果
if(uiRes > 0)
{
if(uiActivated)
{
uiTimerCount = 0;
switch(uiRes)
{
case NAME_ID:
switch(uiBS_Team)
{
case 0: //第一组的第一个命令（杰克）
//播放Ok,Les's go,Yeah
PlaySnd(OK);
break;
case 1: //第二组的第一个命令（开始）
PlaySnd(OK);
PlaySnd(LETUSGO);
PlaySnd(YEAH);
//播放Ok,Les's go
break;
case 2: //第三组的第一个命令（准备）
PlaySnd(OK);
//播放Ok
break;
}
break;
case Command_One_ID:
switch(uiBS_Team)
{
case 0: //第一组的第二个命令（开始）
//导入第二组命令，修改uiBS_Team为1，播放Wo,Ho,Hoo,Hooo,跳出循环
ImportFiveCommand(0xf900);
uiBS_Team = 1;
PlaySnd(HO);
PlaySnd(HOO);
PlaySnd(HOO);
PlaySnd(HOOO);
goto Loop;
break;
case 1: //第二组的第二个命令（向前走）
//播放喀咔声音，控制电机向前走
Robot_Go(1);
PlaySnd(WALK);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
uiActivated = 0;
goto Loop;
break;
case 2: //第三组的第二个命令（向左瞄准）
//播放旋转声音，头部电机向左转
Robot_HeadTurnLeft(1);
PlaySnd(TURNHEAD);
PlaySnd(TURNHEAD);
PlaySnd(TURNHEAD);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
uiActivated = 0;
goto Loop;
break;
}
*(unsigned int *)0x7012 = 1;
uiActivated = 0; //杰克为触发命令，每完成一个动作需要出发一次
break;
case Command_Two_ID:
switch(uiBS_Team)
{
case 0: //第一组的第三个命令（准备）
//导入第三组命令，修改uiBS_Team为2，播放Wo,Ho,Hoo,Hooo,跳出循环
ImportFiveCommand(0xfb00);
uiBS_Team = 2;
PlaySnd(HO);
PlaySnd(HOO);
PlaySnd(HOO);
PlaySnd(HOOO);
goto Loop;
break;
case 1: //第二组的第三个命令（倒退）
//播放喀咔声音，控制电机向后走
Robot_Backup(1);
PlaySnd(WALK);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
break;
case 2: //第三组的第三个命令（向右瞄准）
//播放旋转声音，头部电机向右转
Robot_HeadTurnRight(1);
PlaySnd(TURNHEAD);
PlaySnd(TURNHEAD);
PlaySnd(TURNHEAD);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
uiActivated = 0;
goto Loop;
break;
}
*(unsigned int *)0x7012 = 1;
uiActivated = 0;
break;
case Command_Three_ID:
switch(uiBS_Team)
{
case 0: //第一组的第四个命令（跳舞）
//跳舞，清看门狗，时间比较长
Robot_Dance(2);
uiActivated = 0;
*(unsigned int *)0x7012 = 0x0001;
break;
case 1: //第二组的第四个命令（左转）
//播放旋转声音，向左旋转
Robot_TurnLeft(1);
PlaySnd(WALK);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
uiActivated = 0;
goto Loop;
break;
case 2: //第三组的第四个命令（发射）
//播放咚咚声音，发射飞盘
Robot_Shoot_Prepare(4);
Delay(1500);
Robot_Shoot2(2);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
uiActivated = 0;
goto Loop;
break;
}
*(unsigned int *)0x7012 = 1;
uiActivated = 0;
break;
case Command_Four_ID:
switch(uiBS_Team)
{
case 0: //第一组的第五个命令（再来一曲）
//在来一曲
Robot_DanceAgain(2);
uiActivated = 0;
break;
case 1: //第二组的第五个命令（右转）
//播放声音，向右旋转，导到第一组命令，设置uiBS_Team为0，推出循环
Robot_TurnRight(1);
PlaySnd(WALK);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
uiActivated = 0;
goto Loop;
break;
case 2: //第三组的第五个命令（连续发射）
//连续发射飞盘，导到第一组命令，设置uiBS_Team为0，推出循环
Robot_Shoot_Prepare(4);
Delay(1500);
Robot_Shoot_Five(2);
ImportFiveCommand(0xf700);
uiBS_Team = 0;
uiActivated = 0;
goto Loop;
break;
}
*(unsigned int *)0x7012 = 1;
uiActivated = 0;
break;
}
}
else
{
if(uiRes == NAME_ID)
{
*(unsigned int *)0x7012 = 1;
uiActivated = 1;
uiTimerCount = 0;
PlaySnd(OK); //播放应答OK
}
}
}
else if(uiActivated)
{
if(++uiTimerCount > 700)
{
*(unsigned int *)0x7012 = 1;
uiActivated = 0;
uiTimerCount = 0;
PlaySnd(HOOO);
}
}
uiKey = *P_IOA_Data;
uiKey = uiKey&0x0004;
if(uiKey == 0x0004)
{
F_FlashErase(0xfd00);
} //擦除标志位
}
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