📄 main.c
字号:
AMotor(43);
}
else if(lastmode==8)
{ HDirection(2);
AMotor(43);
}
else if(lastmode==3)
{HDirection(2);
AMotor(43);}
else if(lastmode==1)
{ HDirection(2);
AMotor(43); }
else {
lastmode=mode;
break;}}
case 5:
{ if(lastmode==5)
{HDirection(-1);
AMotor(43);}
else if(lastmode==2)
{HDirection(-1);
AMotor(43);}
else if(lastmode==0)
{ HDirection(-1);
AMotor(43); }
else if(lastmode==6)
{ HDirection(-1);
AMotor(43);
}
else if(lastmode==9)
{ HDirection(-1);
AMotor(43);
}
else {
lastmode=mode;
break;}}
//////////////////////////////////////////////////////////
case 6:
{ if(lastmode==6)
{HDirection(-2);
AMotor(43);}
else if(lastmode==5)
{HDirection(-2);
AMotor(43);}
else if(lastmode==2)
{ HDirection(-3);
AMotor(43); }
else if(lastmode==9)
{ HDirection(-3);
AMotor(43);
}
else if(lastmode==10)
{ HDirection(-3);
AMotor(43);
}
else {
lastmode=mode;
break;}}
case 7:
{ if(lastmode==7)
{HDirection(2);
AMotor(43);}
else if(lastmode==8)
{HDirection(1);
AMotor(43);}
else if(lastmode==11)
{ HDirection(1);
AMotor(43); }
else if(lastmode==4)
{ HDirection(2);
AMotor(43);
}
else if(lastmode==3)
{ HDirection(3);
AMotor(43);
}
else {
lastmode=mode;
break;}}
case 8:
{ if(lastmode==8)
{HDirection(3);
AMotor(43);}
else if(lastmode==11)
{HDirection(1);
AMotor(43);}
else if(lastmode==12)
{ HDirection(1);
AMotor(43); }
else if(lastmode==7)
{ HDirection(3);
AMotor(43);
}
else if(lastmode==4)
{ HDirection(3);
AMotor(43);
}
else {
lastmode=mode;
break;}}
case 9:
{ if(lastmode==9)
{HDirection(-3);
AMotor(43);}
else if(lastmode==6)
{HDirection(-3);
AMotor(43);}
else if(lastmode==5)
{ HDirection(-3);
AMotor(43); }
else if(lastmode==10)
{ HDirection(-3);
AMotor(43);
}
else if(lastmode==13)
{ HDirection(-3);
AMotor(43);
}
else {
lastmode=mode;
break;}}
case 10:
{ if(lastmode==10)
{HDirection(-3);
AMotor(48);}
else if(lastmode==9)
{HDirection(-4);
AMotor(48);}
else if(lastmode==6)
{ HDirection(-4);
AMotor(48); }
else if(lastmode==13)
{ HDirection(-3);
AMotor(48);
}
//else if(lastmode==14)
// { HDirection(0);
// AMotor(30);
//}
else {
lastmode=mode;
break;}}
case 11:
{ if(lastmode==11)
{HDirection(4);
AMotor(48);}
else if(lastmode==12)
{HDirection(4);
AMotor(48);}
else if(lastmode==8)
{ HDirection(4);
AMotor(48); }
else if(lastmode==7)
{ HDirection(4);
AMotor(48);
}
else {
lastmode=mode;
break;}}
case 12:
{ if(lastmode==12)
{HDirection(4);
AMotor(48);}
else if(lastmode==11)
{HDirection(4);
AMotor(48);}
else if(lastmode==8)
{ HDirection(4);
AMotor(48); }
else {
lastmode=mode;
break;}}
case 13: //车身必须大幅右转
{ if(lastmode==13)
{HDirection(-5);
AMotor(48);}
else if(lastmode==10)
{HDirection(-5);
AMotor(48);}
else if(lastmode==9)
{ HDirection(-5);
AMotor(48); }
// else if(lastmode==14)
//{ HDirection(1);
// AMotor(30); }
else {
lastmode=mode;
break;}}
case 14: //车身必须大幅右转
{ if(lastmode==14)
{HDirection(5);
AMotor(48);}
else if(lastmode==12)
{HDirection(5);
AMotor(48);}
else if(lastmode==11)
{ HDirection(5);
AMotor(48); }
// else if(lastmode==14)
//{ HDirection(1);
// AMotor(30); }
else {
lastmode=mode;
break;}}
// case 15:
// {
// HDirection(0);
// AMotor(-30);
// Delay_1s();
// break;}
}
}
/*-----------------------------------------------------------------------------------------------------*/
void main(void) {
Init_ECT();
Init_Parameter1();
Init_Timer();
PWM_Init();
AMotor(0);
HDirection(0);
Delay_1s();
PORTB_BIT7=1;
PORTB_BIT6=1;
PORTB_BIT5=1;
PORTB_BIT4=1;
PORTB_BIT3=1;
PORTB_BIT0=1;
Delay_1s();
PORTB_BIT7=0;
Delay_1s();
PORTB_BIT7=1;
PORTB_BIT6=0;
Delay_1s();
PORTB_BIT6=1;
PORTB_BIT5=0;
Delay_1s();
PORTB_BIT5=1;
PORTB_BIT4=0;
Delay_1s();
PORTB_BIT4=1;
PORTB_BIT3=0;
Init_Parameter2();
for(;;) {
Sensor_RD();
Sensor_Decision();
}
}
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