goangledistance.c

来自「机器人足球教程footballteaching」· C语言 代码 · 共 54 行

#ifndef _GOANGLEDISTANCE_
#define _GOANGLEDISTANCE_
#include "HardwareInfo.c"
#include <GetUltrasound.h>
#include "returnOut.c"
#include "GoAngle.c"
#include <SetMotor.h>
#include <SetCentiS.h>

void goAngleDistance(unsigned int angle, unsigned int distance, unsigned char luminosity)
{
    // extern global var
    extern unsigned char g_Speed;
    extern unsigned char g_ModifySpeed;
    extern unsigned int g_Small;
    extern unsigned int g_Big;
    extern unsigned char g_BreakSpeed;
    extern unsigned char g_BreakTime;

    unsigned int distance_middle = 0;
    unsigned char i = 0;
    while ( 1 )
    {
        distance_middle = GetUltrasound(_ULTRASOUND_middle_);
        if ( (distance_middle<300)&&(distance_middle>distance) )
        {
            break;
        }
        else
        {
            if ( distance_middle==0 )
            {
                continue;
            }
            else
            {
                i = returnOut(luminosity);
                if ( i==1 )
                {
                    return ;
                }
            }
        }
        GoAngle(angle);
    }
    SetMotor(_MOTOR_left_, 2, g_BreakSpeed);
    SetMotor(_MOTOR_right_, 2, g_BreakSpeed);
    SetCentiS(g_BreakTime);
    SetMotor(_MOTOR_left_, 0, 0);
    SetMotor(_MOTOR_right_, 1, 0);
}
#endif