模糊表.txt

本人s12的一部分机器人巡线程序

const  uchar rightforward[FE][FE]=
{
// 0  .4 .7  1 .4 .7  2 .4 .7  3 .4 .7  4 .4 .7  5 .4 .7  6
   FN,FN,FP,FP,FR,FR,FT,FT,FV,FV,FV,FT,FT,FR,FR,FP,FP,FN,FN, // 0       
   FL,FN,FN,FP,FP,FR,FR,FT,FT,FV,FT,FT,FR,FR,FP,FP,FN,FN,FL, //.4
   FL,FL,FN,FN,FP,FP,FR,FR,FT,FT,FT,FR,FR,FP,FP,FN,FN,FL,FL, //.7
   FJ,FL,FL,FN,FN,FP,FP,FR,FR,FT,FR,FR,FP,FP,FN,FN,FL,FL,FJ, // 1
   FJ,FJ,FL,FL,FN,FN,FP,FP,FR,FR,FR,FP,FP,FN,FN,FL,FL,FJ,FJ, //.4
   FH,FJ,FJ,FL,FL,FN,FN,FP,FP,FR,FP,FP,FN,FN,FL,FL,FJ,FJ,FH, //.7
   FH,FH,FJ,FJ,FL,FL,FN,FN,FP,FP,FP,FN,FN,FL,FL,FJ,FJ,FH,FH, // 2   
   FF,FH,FH,FJ,FJ,FL,FL,FN,FN,FP,FN,FN,FL,FL,FJ,FJ,FH,FH,FF, //.4
   FF,FF,FH,FH,FJ,FJ,FL,FL,FN,FN,FN,FL,FL,FJ,FJ,FH,FH,FF,FF, //.7
   FD,FF,FF,FH,FH,FJ,FJ,FL,FL,FN,FL,FL,FJ,FJ,FH,FH,FF,FF,FD, // 3
   FD,FD,FF,FF,FH,FH,FJ,FJ,FL,FL,FL,FJ,FJ,FH,FH,FF,FF,FD,FD, //.4
   FB,FD,FD,FF,FF,FH,FH,FJ,FJ,FL,FJ,FJ,FH,FH,FF,FF,FD,FD,FB, //.7
   FB,FB,FD,FD,FF,FF,FH,FH,FJ,FJ,FJ,FH,FH,FF,FF,FD,FD,FB,FB, // 4
   14,FB,FB,FD,FD,FF,FF,FH,FH,FJ,FH,FH,FF,FF,FD,FD,FB,FB,14, //.4
   14,14,FB,FB,FD,FD,FF,FF,FH,FH,FH,FF,FF,FD,FD,FB,FB,14,14, //.7
   12,14,14,FB,FB,FD,FD,FF,FF,FH,FF,FF,FD,FD,FB,FB,14,14,12, // 5
   12,12,14,14,FB,FB,FD,FD,FF,FF,FF,FD,FD,FB,FB,14,14,12,12, //.4
   10,12,12,14,14,FB,FB,FD,FD,FF,FD,FD,FB,FB,14,14,12,12,10, //.7
   10,10,12,12,14,14,FB,FB,FD,FD,FD,FB,FB,14,14,12,12,10,10  // 6
};
const  uchar leftforward[FE][FE]=
{
   10,10,12,12,14,14,FB,FB,FD,FD,FD,FB,FB,14,14,12,12,10,10,
   10,12,12,14,14,FB,FB,FD,FD,FF,FD,FD,FB,FB,14,14,12,12,10,
   12,12,14,14,FB,FB,FD,FD,FF,FF,FF,FD,FD,FB,FB,14,14,12,12,
   12,14,14,FB,FB,FD,FD,FF,FF,FH,FF,FF,FD,FD,FB,FB,14,14,12,
   14,14,FB,FB,FD,FD,FF,FF,FH,FH,FH,FF,FF,FD,FD,FB,FB,14,14,
   14,FB,FB,FD,FD,FF,FF,FH,FH,FJ,FH,FH,FF,FF,FD,FD,FB,FB,14,
   FB,FB,FD,FD,FF,FF,FH,FH,FJ,FJ,FJ,FH,FH,FF,FF,FD,FD,FB,FB,
   FB,FD,FD,FF,FF,FH,FH,FJ,FJ,FL,FJ,FJ,FH,FH,FF,FF,FD,FD,FB,
   FD,FD,FF,FF,FH,FH,FJ,FJ,FL,FL,FL,FJ,FJ,FH,FH,FF,FF,FD,FD,
   FD,FF,FF,FH,FH,FJ,FJ,FL,FL,FN,FL,FL,FJ,FJ,FH,FH,FF,FF,FD,
   FF,FF,FH,FH,FJ,FJ,FL,FL,FN,FN,FN,FL,FL,FJ,FJ,FH,FH,FF,FF,
   FF,FH,FH,FJ,FJ,FL,FL,FN,FN,FP,FN,FN,FL,FL,FJ,FJ,FH,FH,FF,
   FH,FH,FJ,FJ,FL,FL,FN,FN,FP,FP,FP,FN,FN,FL,FL,FJ,FJ,FH,FH,
   FH,FJ,FJ,FL,FL,FN,FN,FP,FP,FR,FP,FP,FN,FN,FL,FL,FJ,FJ,FH,
   FJ,FJ,FL,FL,FN,FN,FP,FP,FR,FR,FR,FP,FP,FN,FN,FL,FL,FJ,FJ,
   FJ,FL,FL,FN,FN,FP,FP,FR,FR,FT,FR,FR,FP,FP,FN,FN,FL,FL,FJ,
   FL,FL,FN,FN,FP,FP,FR,FR,FT,FT,FT,FR,FR,FP,FP,FN,FN,FL,FL,
   FL,FN,FN,FP,FP,FR,FR,FT,FT,FV,FT,FT,FR,FR,FP,FP,FN,FN,FL,
   FN,FN,FP,FP,FR,FR,FT,FT,FV,FV,FV,FT,FT,FR,FR,FP,FP,FN,FN
};














 // 0 .2 .4 .6 .8  1 .2 .4 .6 .8  2 .2 .4 .6 .8  3 .2 .4 .6 .8  4 .2 .4 .6 .8  5 .2 .4 .6 .8  6
    FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FW,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,//6
    FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,//.8
    FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,//.6
    FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,//.4
    FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,//.2
    FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,//5
    FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,//.8
    FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,//.6
    FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,//.4
    FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,//.2
    FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,//4
    FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,//.8
    FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,//.6
    FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,//.4
    FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,//.2
    FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,//3
    FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,//.8
    FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,//.6
    FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,//.4
    FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,//.2
    FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,//2
    FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,//.8
    FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,//.6
    FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,//.4
    FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,//.2
    FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,//1
    FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,//.8
    FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,//.6
    FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,//.4
    FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,//.2
    FA,FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,FA,//0
    
    
    
    
     // 0 .2 .4 .6 .8  1 .2 .4 .6 .8  2 .2 .4 .6 .8  3 .2 .4 .6 .8  4 .2 .4 .6 .8  5 .2 .4 .6 .8  6
    FA,FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,FA,//0
    FA,FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,FA,//.2
    FB,FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,FB,//.4
    FB,FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,FB,//.6
    FC,FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,FC,//.8
    FC,FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,FC,//1
    FD,FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,FD,//.2
    FD,FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,FD,//.4
    FE,FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,FE,//.6
    FE,FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,FE,//.8
    FF,FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,FF,//2
    FF,FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,FF,//.2
    FG,FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,FG,//.4
    FG,FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,FG,//.6
    FH,FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,FH,//.8
    FH,FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,FH,//3
    FI,FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,FI,//.2
    FI,FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,FI,//.4
    FJ,FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,FJ,//.6
    FJ,FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,FJ,//.8
    FK,FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,FK,//4
    FK,FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,FK,//.2
    FL,FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,FL,//.4
    FL,FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,FL,//.6
    FM,FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,FM,//.8
    FM,FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,FM,//5
    FN,FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,FN,//.2
    FN,FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,FN,//.4
    FO,FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,FO,//.6
    FO,FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP,FO,//.8
    FP,FP,FQ,FQ,FR,FR,FS,FS,FT,FT,FU,FU,FV,FV,FW,FW,FW,FV,FV,FU,FU,FT,FT,FS,FS,FR,FR,FQ,FQ,FP,FP//6
                                                                                     
                                                                                     
                                                                                     
const  uchar rightforward[19][19]=
{
// 0  .4 .7  1 .4 .7  2 .4 .7  3 .4 .7  4 .4 .7  5 .4 .7  6
   -30,-31,-32,-33,-34,-35,-36,-37,-37,-37,-38,-38,-38,-38,-38,-38,-39,-39,-39, // 0       
    18,-25,-28,-29,-30,-31,-32,-33,-34,-35,-36,-37,-38,-38,-38,-38,-38,-39,-39, //.4
    20, 13,-20,-25,-26,-27,-28,-29,-30,-31,-32,-33,-34,-35,-36,-37,-38,-38,-38, //.7
    21, 21, 10,-15,-20,-21,-22,-23,-24,-25,-26,-27,-28,-29,-30,-31,-32,-33,-34, // 1
    21, 21, 11,  7,-10,-10,30,30,32,32,32,30,30,28,28,26,26,24,24, //.4
    22, 21, 12,  8,  5, -8,28,30,30,32,30,30,28,28,26,26,24,24,22, //.7
    22, 22, 13,  9,  6, -5,0,28,30,30,30,28,28,26,26,24,24,22,22, // 2   
    23, 22, 14, 10,  7,  5, 0,0,28,30,28,28,26,26,24,24,22,22,20, //.4
    23, 23, 15, 11,  8,24,26, 0,0,28,28,26,26,24,24,22,22,20,20, //.7
    24, 23, 16, 12,  9,24,24,26,26,0,26,26,24,24,22,22,20,20,18, // 3
    25, 24, 17, 13, 10,22,24,24,26,26,0,24,24,22,22,20,20,18,18, //.4
    26, 25, 18, 14, 11,22,22,24,24,26,24,0,22,22,20,20,18,18,16, //.7
    27, 26, 19, 15, 12,20,22,22,24,24,24,22,0,20,20,18,18,16,16, // 4
    28, 27, 20, 16, 13,20,20,22,22,24,22,22,20,5,18,18,16,16,14, //.4
    29, 28, 21, 17, 14,18,20,20,22,22,22,20,20,18,10,16,16,14,14, //.7
    30, 29, 22, 18, 15,18,18,20,20,22,20,20,18,18,16,15,14,14,12, // 5
    30, 30, 23, 19, 16,16,18,18,20,20,20,18,18,16,16,14,20,12,12, //.4
    30, 30, 24, 20, 17,16,16,18,18,20,18,18,16,16,14,14,12,25,10, //.7
    30, 30, 25, 21, 18,14,16,16,18,18,18,16,16,14,14,12,12,10,30  // 6
};