工程机器人大赛窄足机器人单片机源代码

#include "stc15.h" #include <stdio.h> #define FOSC 27000000L // #define BAUD 115200L // #define S2RI 0x01 // #define S2TI 0x02 // #define ISPPROGRAM() ((void(code*)())0xF000)() #define MAIN_Fosc 27000000L typedef unsigned char u8; typedef unsigned int u16; typedef unsigned long u32; static u16 x=80; static u16 y=260; static u16 z=100; u8 busy2=0; u8 i; u16 a=1; u16 u; u16 v; u16 w; u32 uart_timeout = 0; void uart1_init(void); void uart1_send_byte(u8 dat); void uart1_send_str(char *s); void uart1_close(void); void uart1_open(void); void uart2_init(void); void uart2_send_byte(u8 dat); void uart2_send_str(char *s); void uart2_close(void); void uart2_open(void); void Roll_forwardone(void); void Roll_forwardtwo(void); void Roll_forwardthree(void); void Roll_forwardfour(void); void Roll_forwardfive(void); void Roll_forwardsix(void); void Roll_forwardseven(void); void Roll_forwardeight(void); void Roll_backwardone(void); void Roll_backwardtwo(void); void Roll_backwardthree(void); void Roll_backwardfour(void); void Roll_backwardfive(void); void Roll_backwardsix(void); void Roll_backwardseven(void); void Roll_backwardeight(void); void forwardone(void); void forwardtwo(void); void forwardthree(void); void forwardfour(void); void forwardfive(void); void forwardsix(void); void forwardseven(void); void forwardeight(void); void rightforwardone(void); void rightforwardtwo(void); void rightforwardthree(void); void rightforwardfour(void); void rightforwardfive(void); void rightforwardsix(void); void rightforwardseven(void); void rightforwardeight(void); void quickforwardone(void); void quickforwardtwo(void); void quickforwardthree(void); void quickforwardfour(void); void quickforwardfive(void); void quickforwardsix(void); void quickforwardseven(void); void quickforwardeight(void); void turnleftone(void); void turnlefttwo(void); void turnleftthree(void); void turnleftfour(void); void turnrightone(void); void turnrighttwo(void); void turnrightthree(void); void turnrightfour(void); void zx_uart_send_str(char *s); void delay_ms(unsigned int t); //??∫??|“??那?豕|“????∫??∫o?“∟ int id, pwm, time; char cmd_return[100];//?a?∫?豕?|“??cmd_return|“???“⊿???豕?3?““??∫?∫?∫??a?“⊿?1?|“?????∫??“o???∫???Y????∫2???∫oy???足?“o????∫?D? = 15*???∫oy+10 void main(void) { u8 a=0; //?????∫213??∫o???㏒∟ uart1_init(); //uart1_close(); //uart1_open(); uart2_init(); //uart2_close(); //uart2_open(); for(i=1;i<=6;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } for(i=1;i<=6;i++) { Roll_forwardone(); Roll_forwardtwo(); Roll_forwardthree(); delay_ms(200); uart1_open(); uart1_send_str((u8 *)"{#003P2150T0300!}"); uart1_close(); delay_ms(50); Roll_forwardfour(); delay_ms(200); Roll_forwardfive(); Roll_forwardsix(); } for(i=1;i<=6;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } for(i=1;i<=6;i++) { Roll_backwardone(); Roll_backwardtwo(); Roll_backwardthree(); delay_ms(200); uart1_open(); uart1_send_str((u8 *)"{#003P0900T0300!}"); uart1_close(); delay_ms(100); Roll_backwardfour(); delay_ms(200); Roll_backwardfive(); Roll_backwardsix(); } for(i=a;i<=2;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } while(1) { for(v=1;v<=2;v++) { w=1; for(u=1;u<=3;u++) { if(a==3) { a=1; } for(i=a;i<=3;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } if(a%2==0) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } a++; w++; if(w==5) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } } for(y=1;y<=3;y++) { if(a==4) { a=1; } for(i=a;i<=4;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } if(a%3==0) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } a++; } } for(i=1;i<=12;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } for(v=1;v<=1;v++) { w=1; for(u=1;u<=3;u++) { if(a==3) { a=1; } for(i=a;i<=3;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } if(a%2==0) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } a++; w++; if(w==5) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } } for(y=1;y<=3;y++) { if(a==4) { a=1; } for(i=a;i<=4;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } if(a%3==0) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } a++; } for(i=1;i<=12;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } for(v=1;v<=2;v++) { w=1; for(u=1;u<=3;u++) { if(a==3) { a=1; } for(i=a;i<=3;i++) { forwardone(); forwardtwo(); forwardthree(); forwardfour(); forwardfive(); forwardsix(); forwardseven(); forwardeight(); } if(a%2==0) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } a++; w++; if(w==5) { uart1_open(); uart1_send_str((u8 *)"{#001P1500T0500!#002P1500T0500!#003P1500T0500!#004P1500T0500!#005P1500T0500!#006P1500T0500!}"); //?????∫21 ?∫?∫?2o?????∫2Dy?“⊿a|“??2050|“?????? ????∫2time 1000 uart1_close(); delay_ms(300); } } for(y=1;y<=3;y++)