do{ _nop_(); }while(--k); {
unsigned char i; while(x--) }while(--j); }while(--i); }
void delay_nus(unsigned int i) { i=i/10; while(--i); }
void delay_nms(unsigned int n) { n=n+1; while(--n)
delay_nus(900); }
void delayms(unsigned char x) {
for (i = 0; i<13; i++) {} } }
void Delay() {
unsigned int DelayTime=30000; while(DelayTime--); return; } void
ControlCar(unsigned
char
ConType)
tingzhi();
switch(ConType) {
case 1: //前进
{
LeftLed = 0 ; qianjin();
tingzhi(); } }
break;
break; }
case 2: //后退 } {
LeftLed = 1 ;
houtui(); break; }
case 3: //左转 { zuozhuan(); break;
}
case 4: //右转 { youzhuan(); break;
}
case 8: //停止 {
void
ControlCar_yaokong(unsigned
char ConType)
{
tingzhi();
switch(ConType) {
case 1: //前进 {
tingzhi();
Delay1ms(150);
LeftLed = 0 ;
qianjin();
break;
}
case 2: //后退
{
tingzhi();
Delay1ms(150); LeftLed = 1 ;
houtui(); break; }
case 3: //左转 {
tingzhi();
Delay1ms(150);
zuozhuan(); break;
}
case 4: //右转 {
tingzhi();
Delay1ms(150);
youzhuan();
break;
}
case 8: //停止 {
tingzhi();
break;
}
} }
void main()
{
bit RunFlag=0;
LedFlash=3000; EX1=1; IT1=1; EA=1; ControlCar(8); while(1) {
if(P3_2 == 0)
{
delay_nms(10);
if(P3_2 == 0) {
temp++;
while(!P3_2);
EX1 = 1;break; } }
void IR_IN() interrupt 2 using 0 }
} }
if(temp > 3) {
temp = 1; }
switch(temp) {
case 1:
ShowPort=
LedShowData[1];Robot_Traction(); EX1 = 0;break;
case 2:
ShowPort=
LedShowData[2];Robot_Avoidance(); EX1 = 0;break;
case 3:
ShowPort = LedShowData[3];
{
unsigned char j,k,N=0;
EX1 = 0; delayms(15); if (IRIN==1) {
EX1 =1;
return; }
while (!IRIN) {
delayms(1); }
for (j=0;j<4;j++)
{ }
for (k=0;k<8;k++) {
IRCOM[j]=IRCOM[j] >> 1;
while (IRIN) if (N>=8) {
delayms(1); }
while (!IRIN) {
delayms(1); }
while (IRIN) {
delayms(1); N++; if (N>=30)
{
EX1=1;
return; } {
IRCOM[j] = IRCOM[j] | 0x80; }
N=0; } }
if (IRCOM[2]!=~IRCOM[3]) {
EX1=1; return; }
for(j=0;j<10;j++) {
if(IRCOM[2]==RecvData[j]) {
ControlCar_yaokong(j);