seektrack..c

我们的一个国家大学生创新性实验计划项目中的简单智能电动车循迹程序

/***********************************************************************
	_SEEKTRACK_C_
	A.Description:This file contains the functions of the	basic program
	of motors' driving and the program for seeking. 
	
	B.	Wenzhuo Fu
		Electic Class7
		Sep20,2008	 
		Bulid with Keil uVision3 .
**********************************************************************/
#include<seektrack.h>
#include<regx52.h>


/***********************************************************************
	
**********************************************************************/
void motor(bit lf,bit lb,bit rf,bit rb)
{
	lfward	=	lf	;
	lbward	=	lb	;
	rfward	=	rf	;
	rbward	=	rb	;
}
/***********************************************************************
	motor(0,0,0,0);	停止	motor(1,0,1,0); 向前	motor(1,0,0,1); 向右
	motor(0,1,1,0);	向左	motor(0,1,0,1); 向后	
**********************************************************************/
void  stop()
	{	motor(0,0,0,0);}

void  forward()
	{P3_4=!P3_4;
		motor(1,0,1,0);}

void  turnright()
	{	motor(1,0,0,1);}

void  turnleft()
	{	motor(0,1,1,0);}

void  backward()
	{	motor(0,1,0,1);}

/***********************************************************************
	形式参数：	i=0：向前，i=1：向右，i=2:向左.
**********************************************************************/
void seek(unsigned	int i)	
{
P3_3=!P3_3;
if(i==0	)
	{if( _rseek && !_lseek)  
		{r_trend =0;	l_trend =1;		}
	 if( _lseek && !_rseek)  
		{r_trend =1;	l_trend =0;		}
	 if(!_lseek&&!_rseek&&!_cseek)
	 	{if( r_trend)	turnleft();
	  	 if( l_trend)	turnright();	}
	 else 			   	forward();		}

if(i==1	) 							
	{if( _rseek	)
	 	{l_trend=1;		r_trend =0;	turnright();	}
	 if( _lseek && !_cseek)
		{r_trend =1;	l_trend =0;		}
	 if(!_lseek)
		{if( r_trend)	turnleft();
	  	 if( l_trend)	turnright();	}
	 else 				motor(1,0,1,0);	}
/*
if(i==2	) 							
	{if( _lseek	)
	 	{r_trend=1;		l_trend =0;	turnleft	();	}
	 if( _rseek && !_cseek)
		{r_trend =0;	l_trend =1;		}
	 if(!_rseek	)
		{if( r_trend)	turnleft	();
	  	 if( l_trend)	turnright	();	}
	 else 				forward		();	}*/
}