智能灭火机器人第程序.doc

#include""#define P_IOA_Data (volatileunsignedint*)0x7000#define P_IOA_Dir (volatileunsignedint*)0x7002#define P_IOA_Attrib (volatileunsignedint*)0x7003#define P_IOB_Data (volatileunsignedint*)0x7005#define P_IOB_Dir (volatileunsignedint*)0x7007#define P_IOB_Attrib (volatileunsignedint*)0x7008#define P_TimerB_Data (volatileunsignedint*)0x700C#define P_TimerB_Ctrl (volatileunsignedint*)0x700D#define P_INT_Ctrl (volatileunsignedint*)0x7010#define P_INT_Clear (volatileunsignedint*)0x7011#define P_ADC (volatileunsignedint*)0x7014#define P_ADC_Ctrl (volatileunsignedint*)0x7015#define P_ADC_MUX_Ctrl (volatileunsignedint*)0x702B#define P_ADC_MUX_Data (volatileunsignedint*)0x702C#define C_FIQ_PWM 0x8000 //P_INT_Ctrl#define C_FIQ_TMA 0x2000 //P_INT_Ctrl#define C_FIQ_TMB 0x0800 //P_INT_Ctrl#define C_IRQ4_1KHz 0x0010 //P_INT_Ctrl#define C_IRQ4_2KHz 0x0020 //P_INT_Ctrl#define C_IRQ4_4KHz 0x0040 //P_INT_Ctrl#define C_IRQ5_2Hz 0x0004 //P_INT_Ctrl#define C_IRQ5_4Hz 0x0008 //P_INT_Ctrl#define C_TMB_32KHz 0x0002 //P_TimerB_Ctrl#define C_TMB_PWM_OFF 0x0000 //P_TimerB_Ctrl#define P_Watchdog_Clear (volatileunsignedint*)0x7012unsignedintmm,y,Delaynumber,xp=255,flag,dd;unsignedintleft,right;unsignedintpulse_x,pulse_y;unsignedintpaixu[7];//排序unsignedintchdata[7];//火焰传感器检测通道unsignedintworkstate=0; //进入检测范围unsignedintsucessfire=0; //灭火成功标记voidPWM_left(unsignedinthigh_time,unsignedintcyclical_time);voidPWM_right(unsignedinthigh_time,unsignedintcyclical_time);voidforward(unsignedintm,unsignedintn);voidforward_s(unsignedintm,unsignedintn);voidforward_s2(unsignedintm,unsignedintn);voidbackward(unsignedintm,unsignedintn);voidturn_left(unsignedintm);voidturn_right(unsignedintm);voidstop(void);voidget_AD(void);//AD转换voidsystem_init(void);//系统初始化voiddelay_ms(unsignedintt);//ms级延时程序voiddelay_s(unsignedintt);//s级延时程序voidadjust(void);//调整voidadjust_s(void);//粗调voidseekfire(void);//寻找火源voidfire(void);//灭火voidhf(void);intabs(intm);voidbizhan(void);//避障voidbiya(void);//避崖voidStage0(void);//