智能灭火机器人设计方案程序.doc

#include""薆#define P_IOA_Data (volatileunsignedint*)0x7000b5E2RGbCAP薂#define P_IOA_Dir (volatileunsignedint*)0x7002p1EanqFDPw虿#define P_IOA_Attrib (volatileunsignedint*)0x7003DXDiTa9E3d薀#define P_IOB_Data (volatileunsignedint*)0x7005RTCrpUDGiT肃#define P_IOB_Dir (volatileunsignedint*)0x70075PCzVD7HxA薅#define P_IOB_Attrib (volatileunsignedint*)0x7008jLBHrnAILg蝿#define P_TimerB_Data (volatileunsignedint*)0x700CxHAQX74J0X蚆#define P_TimerB_Ctrl (volatileunsignedint*)0x700DLDAYtRyKfE螅#define P_INT_Ctrl (volatileunsignedint*)0x7010Zzz6ZB2Ltk莃#define P_INT_Clear (volatileunsignedint*)0x7011dvzfvkwMI1蝿#define P_ADC (volatileunsignedint*)0x7014肇#define P_ADC_Ctrl (volatileunsignedint*)0x7015rqyn14ZNXI蒇#define P_ADC_MUX_Ctrl (volatileunsignedint*)0x702BEmxvxOtOco肂#define P_ADC_MUX_Data (volatileunsignedint*)0x702CSixE2yXPq5衿#define C_FIQ_PWM 0x8000 //P_INT_Ctrl蒈#define C_FIQ_TMA 0x2000 //P_INT_Ctrl袅#define C_FIQ_TMB 0x0800 //P_INT_Ctrl袁#define C_IRQ4_1KHz 0x0010 //P_INT_Ctrl羈#define C_IRQ4_2KHz 0x0020 //P_INT_Ctrl衿#define C_IRQ4_4KHz 0x0040 //P_INT_Ctrl蚇#define C_IRQ5_2Hz 0x0004 //P_INT_Ctrl袄#define C_IRQ5_4Hz 0x0008 //P_INT_Ctrl肈#define C_TMB_32KHz 0x0002 //P_TimerB_Ctrl羆#define C_TMB_PWM_OFF 0x0000 //P_TimerB_Ctrl肅#define P_Watchdog_Clear (volatileunsignedint*)0x70126ewMyirQFL蚃unsignedintmm,y,Delaynumber,xp=255,flag,dd;kavU42VRUs膈unsignedintleft,right;莇unsignedintpulse_x,pulse_y;螇unsignedintpaixu[7];//排序蒂unsignedintchdata[7];//火焰传感器检测通道蒂unsignedintworkstate=0; //进入检测范围螈unsignedintsucessfire=0; //灭火成功标记芄voidPWM_left(unsignedinthigh_time,unsignedintcyclical_time);y6v3ALoS89蒅voidPWM_right(unsignedinthigh_time,unsignedintcyclical_time);M2ub6vSTnP薂voidforward(unsignedintm,unsignedintn);腿voidforward_s(unsignedintm,unsignedintn);羆voidforward_s2(unsignedintm,unsignedintn);芃voidbackward(unsignedintm,unsignedintn);蚂voidturn_left(unsignedintm);蕿voidturn_right(unsignedintm);蒄voidstop(void);肂voidget_AD(void);//AD转换螂voidsystem_init(void);//系统初始化螆voiddelay_ms(unsignedintt)