relative.c

机器人足球教程footballteaching

#include "HardwareInfo.c"
#include <GetCompoI.h>
#include "ToTheRelativeAngle.c"
#include <SetMotor.h>

int main(void)
{
    unsigned char MaxValue = 0;
    unsigned char ValueIndex = 0;
    unsigned int angle = 0;
    unsigned char FarValue = 0;
    while (1)
    {
        MaxValue = GetCompoI(_COMPOUNDEYE_1_, 9);
        if ( MaxValue>FarValue )
        {
            ValueIndex = GetCompoI(_COMPOUNDEYE_1_, 8);
            if ( ValueIndex>4 )
            {
                angle=(ValueIndex-4)*30;
            }
            else
            {
                angle=360-(4-ValueIndex)*30;
            }
            ToTheRelativeAngle(angle);
        }
        else
        {
            SetMotor(_MOTOR_left_, 1, 100);
            SetMotor(_MOTOR_right_, 1, 100);
        }
    }
    return 1;
}