atuo_car2.c

单片机开发资料光盘-双龙-686M.zip

//自走车   机器人走螺旋线，由内往外绕

#include <io8515v.h>
#include <macros.h>
#include <sl3010.c>

unsigned int delay_time1,delay_time2;

void auto_car2()
{
 port_init();//PA,PB,PC,PD 初始化
 
 work_status = 0x51;//置对应的工作状态标志
 
 delay_time1=300;    //转弯时间
 delay_time2=100;   //前行时间
 
 mic_startup();//等待声控启动

	   forward();             //前行
	   delay_ms(200);         
 
 while(1)
      {
	   sw_touch();            //检测轻触开关
	   
	   remote_auto_time();    //遥控器控制直行和转弯时间
	   
	   turn_right();          //右转
	   delay_ms(delay_time1);
	
	   forward();             //前行
	   delay_ms(delay_time2);
	
	   turn_right();          //右转
	   delay_ms(delay_time1);
	
	   forward();             //前行
	   delay_ms(delay_time2);
	
	   turn_right();          //右转
	   delay_ms(delay_time1);
	
	   forward();             //前行
	   delay_ms(delay_time2);
	
	   turn_right();          //右转
	   delay_ms(delay_time1);
	
	   forward();             //前行
	   delay_ms(delay_time2);
	
	   turn_right();          //右转
	   delay_ms(delay_time1);
	
	   forward();             //前行
	   delay_ms(delay_time2);

	   turn_right();          //右转
	   delay_ms(delay_time1);
	
	   forward();             //前行
	   delay_ms(delay_time2);
	   
  	   delay_time2 = delay_time2 + 50;
	   if(delay_time2 == 800)
		 {
		  stop();
		  while(1);
		 }
	  }
}

void main()
{
 auto_car2();
}