data.c

本人s12的一部分机器人巡线程序

uchar Third;
uchar dd6; 
float FrontPositionT;          //由前边八个光感得到的当前位置
float FrontPositionL;          //由前边八个光感得到的上次位置
float BackPositionT;           //由后边八个光感得到的当前位置
float BackPositionL;           //由后边八个光感得到的上次位置
float DiffPositionF;           //前方位置与上次偏差
float DiffPositionB;           //后方位置与上次偏差
uchar Count;                     //计数传感器得到的值
uchar Number;                    //计走过的格数
uchar direction;          //给下位机的转向信号，开始时前进＝0X08
uchar LeftSpeed;               //左边电机的速度
uchar RightSpeed;              //右边电机的速度
uchar LeftSpeedL;               //左边电机的速度
uchar RightSpeedL;              //右边电机的速度
uchar preLeftSpeed;               //左边电机保存的速度
uchar preRightSpeed;              //右边电机保存的速度
uchar e,el;                       //本次偏差和上次偏差
float position(uchar a[],uchar d);

#define A 30
#define B 33
#define C 36
#define D 39
#define E 42
#define F 45
#define G 48
#define H 51
#define I 54
#define J 57
#define K 60
#define L 63
#define M 66
#define N 69
#define O 72
#define P 75
#define Q 78
#define R 81                
#define S 84
#define T 87

const  uchar leftforward[19][19]=
{
 B,A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,           
 0,D,B,B,B,B,B,B,B,B,B,B,B,B,B,B,B,B,B,
 0,0,E,C,C,C,C,C,C,C,C,C,C,C,C,C,C,C,C,
 0,0,0,F,C,C,C,C,C,C,C,C,C,C,C,C,C,C,C,
 0,0,0,0,G,D,D,D,D,D,D,D,D,D,D,D,D,D,D,
 0,0,0,0,0,H,D,D,D,D,D,D,D,D,D,D,D,D,D,
 0,0,0,0,0,0,I,F,F,F,F,F,F,F,F,F,F,F,F,       
 0,0,0,0,0,0,0,J,G,G,G,G,G,G,G,G,G,G,G,
 Q,P,O,N,M,L,K,J,P,I,I,I,I,I,I,I,I,I,I,
 T,S,R,Q,P,O,N,M,L,Q,K,K,K,K,K,K,K,K,K,
 S,R,Q,P,O,N,M,L,K,J,P,I,J,K,L,M,N,O,P,
 R,Q,P,O,N,M,L,K,J,I,H,J,0,0,0,0,0,0,0,
 R,Q,P,O,N,M,R,K,J,I,H,G,I,0,0,0,0,0,0,
 Q,P,O,N,M,L,K,J,I,H,G,F,E,I,0,0,0,0,0,
 R,Q,P,O,N,M,L,K,J,I,H,G,F,E,H,0,0,0,0,
 R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,G,0,0,0,
 S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,F,0,0,
 S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,E,0,
 T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,D
};
const  uchar rightforward[19][19]=
{
 D,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,
 0,E,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,
 0,0,F,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,
 0,0,0,G,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,
 0,0,0,0,H,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,
 0,0,0,0,0,I,E,F,G,H,I,J,K,L,M,N,O,P,Q,
 0,0,0,0,0,0,I,G,H,I,J,K,L,M,N,O,P,Q,R,
 0,0,0,0,0,0,0,J,H,I,J,K,L,M,N,O,P,Q,R,
 P,O,N,M,L,K,J,I,P,J,K,L,M,N,O,P,Q,R,S,
 K,K,K,K,K,K,K,K,K,Q,L,M,N,O,P,Q,R,S,T,
 I,I,I,I,I,I,I,I,I,I,P,J,K,L,M,N,O,P,Q,
 G,G,G,G,G,G,G,G,G,G,G,J,0,0,0,0,0,0,0,
 F,F,F,F,F,F,F,F,F,F,F,F,I,0,0,0,0,0,0,
 D,D,D,D,D,D,D,D,D,D,D,D,D,H,0,0,0,0,0,
 D,D,D,D,D,D,D,D,D,D,D,D,D,D,G,0,0,0,0,
 C,C,C,C,C,C,C,C,C,C,C,C,C,C,C,F,0,0,0,
 C,C,C,C,C,C,C,C,C,C,C,C,C,C,C,C,E,0,0,
 B,B,B,B,B,B,B,B,B,B,B,B,B,B,B,B,B,D,0,
 A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,A,B
};