checkdeath.c

机器人足球教程footballteaching

#ifndef _CHECKDEATH_
#define _CHECKDEATH_
#include "HardwareInfo.c"
#include <GetCompassB.h>
#include <GetSysTime.h>

int checkDeath(unsigned int degree)
{
    // extern global var
    extern unsigned int beginDeathHeading;   //全局变量，其存储上一循环时的角度，也就是刚卡死时的角度
    extern unsigned long beginDeathTime;   //其存储上一循环时的时间，也就是刚卡死时的时间

    unsigned int b = 0;   //指南针的返回值。
    unsigned long t = 0;   //系统时间
    b = GetCompassB(_COMPASS_1_);
    t = GetSysTime();
    if ( ((beginDeathHeading>b)&&((beginDeathHeading-b)<degree))||((beginDeathHeading<b)&&((b-beginDeathHeading)<degree)) )
    {
        if ( (t-beginDeathTime)>250 )
        {
            return 1;
        }
        else
        {
            return 0;
        }
    }
    else
    {
         beginDeathHeading = b;
        beginDeathTime = t;
        return 0;
    }
}
#endif