智能灭火机器人设计第程序.doc

附录1
#include ""
#define P_IOA_Data (volatile unsigned int *)0x7000
#define P_IOA_Dir (volatile unsigned int *)0x7002
#define P_IOA_Attrib (volatile unsigned int *)0x7003
#define P_IOB_Data (volatile unsigned int *)0x7005
#define P_IOB_Dir (volatile unsigned int *)0x7007
#define P_IOB_Attrib (volatile unsigned int *)0x7008
#define P_TimerB_Data (volatile unsigned int *)0x700C
#define P_TimerB_Ctrl (volatile unsigned int *)0x700D
#define P_INT_Ctrl (volatile unsigned int *)0x7010
#define P_INT_Clear (volatile unsigned int *)0x7011
#define P_ADC (volatile unsigned int *)0x7014
#define P_ADC_Ctrl (volatile unsigned int *)0x7015
#define P_ADC_MUX_Ctrl (volatile unsigned int *)0x702B
#define P_ADC_MUX_Data (volatile unsigned int *)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 (volatile unsigned int *)0x7012
unsigned int mm,y,Delaynumber,xp=255,flag,dd;
unsigned int left,right;
unsigned int pulse_x,pulse_y;
unsigned int paixu[7]; //排序
unsigned int chdata[7]; //火焰传感器检测通道
unsigned int workstate=0; //进入检测范围
unsigned int sucessfire=0; //灭火成功标记
void PWM_left(unsigned int high_time,unsigned int cyclical_time);
void PWM_right(unsigned int high_time,unsigned int cyclical_time);
void forward(unsigned int m,unsigned int n) ;
void forward_s(unsigned int m,unsigned int n);
void forward_s2(unsigned int m,unsigned int n);
void backward(unsigned int m,unsigned int n);
void turn_left (unsigned int m);
void turn_right(unsigned int m);
void stop(void);
void get_AD(void); //AD转换
void system_init(void); //系统初始化
void delay_ms(unsigned int t ); /