#ifndef _XUNXIAN2_
#define _XUNXIAN2_
#include "HardwareInfo.c"
#include <GetSysTime.h>
#include <GetLightSensor.h>
#include <SetMotor.h>
#include <SetDisplayVar.h>
#include <SetWaitForTime.h>
void xunxian2(int speed, int speed1, int gray1, int gray2, int speed2, double time)
{
int P1 = 0;
int P2 = 0;
double time_x_start = 0;
double time_x = 0;
int flag = 0;
double T1 = 0;
double T2 = 0;
double T3 = 0;
double x1 = 0;
double xt = 0;
double x2 = 0;
time_x_start = GetSysTime();
while ( GetSysTime()-time_x_start<time )
{
P1 = GetLightSensor(_P1_);
P2 = GetLightSensor(_P2_);
if ( P1<=gray1&&P2<=gray2 )
{
break;
}
else
{
if ( P1<=gray1&&P2>gray2 )
{
SetMotor(_M1_, speed1);
SetMotor(_M2_, speed);
flag=1;
time_x = GetSysTime();
T1=time_x-time_x_start;
}
else
{
if ( P1>gray1&&P2<=gray2 )
{
SetMotor(_M1_, speed);
SetMotor(_M2_, speed1);
flag=2;
time_x = GetSysTime();
T2=time_x-time_x_start;
}
else
{
if ( P1>gray1&&P2>gray2&&flag==1 )
{
SetMotor(_M1_, speed1);
SetMotor(_M2_, speed2);
time_x = GetSysTime();
T1=time_x-time_x_start;
}
else
{
if ( P1>gray1&&P2>gray2&&flag==2 )
{
SetMotor(_M1_, speed2);
SetMotor(_M2_, speed1);
time_x = GetSysTime();
T2=time_x-time_x_start;
}
else
{
SetMotor(_M1_, speed);
SetMotor(_M2_, speed);
}
}
}
}
}
SetDisplayVar(1, flag, YELLOW, BLACK);
}
time_x = GetSysTime();
T3=time_x-time_x_start;
x1=abs((T1-T2)/2);
if ( flag==1 )
{
x2=T3-T1;
if ( x2-x1>0 )
{
xt=(x2-x1)*1000;
SetMotor(_M1_, speed1);
SetMotor(_M2_, 0);
SetWaitForTime(xt);
}
else
{
if ( x2-x1<0 )
{
xt=(x2-x1)*1000;
SetMotor(_M1_, 0);
SetMotor(_M2_, speed1);
SetWaitForTime(xt);
}
else
{
SetMotor(_M1_, 0);
SetMotor(_M2_, 0);
}
}
}
else
{
if ( flag==2 )
{
x2=T3-T2;
if ( x2-x1>0 )
{
xt=(x2-x1)*1000;
SetMotor(_M1_, 0);
SetMotor(_M2_, speed1);
SetWaitForTime(xt);
}
else
{
if ( x2-x1<0 )
{
xt=(x2-x1)*1000;
SetMotor(_M1_, speed1);
SetMotor(_M2_, 0);
SetWaitForTime(xt);
}
else
{
SetMotor(_M1_, 0);
SetMotor(_M2_, 0);
}
}
}
else
{
SetMotor(_M1_, 0);
SetMotor(_M2_, 0);
}
}
SetMotor(_M1_, 0);
SetMotor(_M2_, 0);
}
#endif
快车E3rcu代码.rar （24个子文件） 
机器人子程序20171229 zhijiao 
zhijiao.c 2KB zhijiao.rcu 68KB HardwareInfo.c 0B xiuzheng xiuzheng.c 4KB HardwareInfo.c 0B xiuzheng.rcu 162KB zhuanwan.rcu 86KB TurnLeft.c 972B 新建文件夹 xunxian2 xunxian2.c 4KB HardwareInfo.c 0B xunxian2.rcu 162KB TurnRight.c 975B time.rcu 63KB ruijiao.c 2KB HardwareInfo.c 0B zhuanwan.c 2KB ruijiao.rcu 67KB TurnRight.rcu 65KB TurnLeft.rcu 55KB zhixin.c 1KB time.c 2KB xunxian.rcu 72KB zhixin.rcu 48KB xunxian.c 2KB
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