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#define P_IOA_Data (volatile unsigned int *)0x7000 #define P_IOA_Dir (volatile unsigned int *)0x7002 #define P_IOA_Attrib (volatile unsigned int *)0x7003 unsigned int scan();//检测黑线函数定声明 unsigned int num=0; void delay(); void init_1()//输入初始化 { [P_IOA_Dir]=0x00f0; [P_IOA_Attrib]=0x00f0; [P_IOA_Data]=0x000f; } //void init_2()//输出初始化 //{ //[P_IOA_Dir]=1; //[P_IOA_Attrib]=1; //[P_IOA_Data]=0; //} void main() { while(1) { void init_1(); num=scan(); //void init_2(); switch(num) { case 1: { while(1) { [P_IOA_Data]=0x9f; delay(500); // if([P_IOA_Data]==1)//传感器返回1，则终止转弯，下同 break; } } case 2: { while(1) { [P_IOA_Data]=0x9f; delay(500); break; } } case 4: { while(1) { [P_IOA_Data]=0x6f; delay(500); break; } } case 5: { while(1) { [P_IOA_Data]=0x6f; delay(500); break; } } case 0: { while(1) { [P_IOA_Data]=0x5f; delay(500); break; } } } [P_IOA_Data]=0x5f;//直走 delay(500); } } void delay(uint z) { uint x,y; for(x=z;x>0;x--) for(y=110;y>0;y--); } unsigned int scan() { if(P_IOA_Data==0xfe) { num=1; return num; } if(line_2==0xfd) { num=2; return num; } if(line_4==0xfb) { num=4; return num; } if(line_5==0xf7) { num=5; return num; } return 0; } |
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