bizhang.c

具有寻黑带、趋光、避障功能

/***************************避障**********************/
#include<stdio.h>
#include<reg52.h>
#include"tdp.h"

extern bit ZhangAiWu;
extern int Alm1;
extern bit Alm1_b;

static enum{qj,ht,zw}state=qj;//前进,后退,转弯
void BiZhang(void)
{
	switch(state)
	{
		//前进状态
		case qj:
			QIAN;
			if(ZhangAiWu)
			{
				ZhangAiWu=0;
				Alm1(1000);//定时1000ms
				state=ht;
				Buzzer=0;
			
			 }
			 break;
		//后退状态
		case ht:
			HOU;
			if(Alm1_b)
			{
				Alm1(200);
				state=zw;
				Buzzer=1;
			 }
			 break;
		//转弯状态
		case zw:
			ZUOGUAI;	
			if(Alm1_b){state=qj;}
	}
}