overhalfoftheballs.c

来自「机器人足球教程footballteaching」· C语言 代码 · 共 44 行

#ifndef _OVERHALFOFTHEBALLS_
#define _OVERHALFOFTHEBALLS_
#include "HardwareInfo.c"
#include "turnAngle.c"
#include <GetUltrasound.h>
#include "goAngleDistance.c"
#include <GetCompoI.h>
#include <SetCentiS.h>

void OverHalfOfTheBalls(unsigned char luminosity, unsigned int distance)
{
    unsigned int distance_middle = 0;
    unsigned int angle = 0;
    unsigned char maxValue = 0;
    turnAngle(0, luminosity);
    distance_middle = GetUltrasound(_ULTRASOUND_middle_);
    if ( (distance_middle<distance)&&(distance_middle!=0)&&(distance_middle!=888)&&(distance_middle!=999) )
    {
        goAngleDistance(0, distance, luminosity);
    }
    else
    {
        turnAngle(180, luminosity);
        goAngleDistance(180, distance, luminosity);
    }
    angle=0;
    while ( angle<350 )
    {
        maxValue = GetCompoI(_COMPOUNDEYE_1_, 9);
        if ( maxValue>=luminosity )
        {
            return ;
        }
        else
        {
            turnAngle(angle, luminosity);
        }
        SetCentiS(3);
        angle=angle+60;
    }
}
#endif