电子设计.小车入库 的程序控制.docVIP

??系统分析概要 UML简介?? [原]电子设计.小车入库 程序控制 old_logs /峰?发表于2006-04-25, 19:33 #include bsrsd.h#include hardware.h//#include SPCE061V004.H #define?P_IOA_Data ????(volatile unsigned int *)0x7000?? #define P_IOA_Buffer ???(volatile unsigned int *)0x7001#define P_IOA_Dir ????(volatile unsigned int *)0x7002#define P_IOA_Attrib ???(volatile unsigned int *)0x7003 #define P_IOA_Latch ???(volatile unsigned int *)0x7004 #define P_IOB_Data????(volatile unsigned int *)0x7005? #define P_IOB_Buffer???(volatile unsigned int *)0x7006?? #define P_IOB_Dir????(volatile unsigned int *)0x7007?? #define P_IOB_Attrib???(volatile unsigned int *)0x7008?? #define P_Watchdog_Clear??(volatile unsigned int *)0x7012?? #define P_SystemClock???(volatile unsigned int *)0x7013 #define bool int#define true 1#define false 0 void Init_IO()??//初始化接口，IOA口为输入 、IOB口为输出{?Set_IOA_Dir(0x0000);?Set_IOA_Attrib(0x0000);?Set_IOA_Data(0x0000);?Set_IOB_Dir(0xffff);?Set_IOB_Attrib(0xffff);?Set_IOB_Data(0x0000);} //--------------------------------------------------------------bool Light(void)?//检测光源，如果检测到光源返回true,否则返回false{??//读取IOA口第1位值，值为1表示检测到光源，值为0表示没有检测到光源?unsigned int ia;?ClearWatchDog();???ia =Get_IOA_Data();?ia =ia 0x0001;?if(ia ==0x0001)??return true;?else ??return false;} //--------------------------------------------------------------void TurnRight(unsigned int tn)?? //原地右转tn步{?int i,j ;?ClearWatchDog();? ?for(j=0;jtn;j++)?{??i=i0x00c0;??i=i|0x2400;??*P_IOB_Data=i;??F_Delay(60);?//Delay的参数需要测试？？？？？？？？？？？？？？？？？？？??i=i0x00c0;??i=i|0x0000;??*P_IOB_Data=i;??F_Delay(40);?} } //--------------------------------------------------------------void TurnLeft(unsigned int tn)?//原地左转tn步{?int i,j ;?ClearWatchDog();? ?for(j=0;jtn;j++)?{??i=i0x00c0;??i=i|0x2400;??*P_IOB_Data=i;??F_Delay(60);???i=i0x00c0;??i=i|0x0000;??*P_IOB_Data=i;??F_Delay(40);?} } //--------------------------------------------------------------void GoAhead(unsigned int gn)?//前进gn步{?int i,j ;