电机运转代码

ID:200161 · 发表于 2017-5-13 02:07

#include "motor.h"
#include "uart.h"
#include "timer.h"
#include "mem.h"
uchar Cruising_Flag =0x00;
uchar  Robots_Run_Status;
uchar Pre_Cruising_Flag = 0x00;
extern uint16 se_timer[8];
/**电机初始化**/
void Motor_Init(void)
{
MOTOR_A_EN=1;
MOTOR_B_EN=1;
MOTOR_GO_STOP;
}
//跟随模式
void Follow_Track(void)
{
    switch(Robots_Run_Status)
   {
case 0x01:MOTOR_GO_RIGHT;    break;
case 0x02:MOTOR_GO_LEFT;    break;
case 0x03:MOTOR_GO_FORWARD;  break;
case 0x04:MOTOR_GO_STOP;  break;
   }

      if(Input_Detect1 == 1) //中间传感器OK
   {

   if((Input_Detect0 == 0)&& (Input_Detect2 == 0)) //两边同时探测到障碍物
{

   Robots_Run_Status=0x04;//停止
}

if((Input_Detect0 == 0)&& (Input_Detect2 == 1))//左侧障碍物
{

Robots_Run_Status=0x01;//右转
}

if((Input_Detect0 == 1)&& (Input_Detect2 == 0))//右侧障碍物
{
Robots_Run_Status=0x02;//左转
}

if((Input_Detect0 == 1)&& (Input_Detect2 == 1))//无任何障碍物
{
Robots_Run_Status=0x03;//直行
}
   }
   else
   {
         Robots_Run_Status=0x04;
   }

}
//巡线模式
void FollowLine(void)
{
   switch(Robots_Run_Status)
   {
case 0x01:MOTOR_GO_RIGHT;    break;
case 0x02:MOTOR_GO_LEFT;    break;
case 0x03:MOTOR_GO_FORWARD;  break;
case 0x04:MOTOR_GO_STOP;  break;
   }

   if((Input_Detect_LEFT == 0)&& (Input_Detect_RIGHT == 0))//两边同时探测到障碍物
{

   Robots_Run_Status=0x03;//直行
}

if((Input_Detect_LEFT == 0)&& (Input_Detect_RIGHT == 1))//右侧遇到障碍
{

Robots_Run_Status=0x02;//左转
}

if((Input_Detect_LEFT == 1)&& (Input_Detect_RIGHT == 0))//左侧遇到障碍
{
Robots_Run_Status=0x01;//右转
}

if((Input_Detect_LEFT == 1)&& (Input_Detect_RIGHT == 1))//左右都检测到，就如视频中的那样遇到一道横的胶带
{
Robots_Run_Status=0x04;//停止
}
}
//避障模式
void Avoiding(void)
{
      switch(Robots_Run_Status)
   {
case 0x01:MOTOR_GO_RIGHT;    break;
case 0x02:MOTOR_GO_LEFT;    break;
case 0x03:MOTOR_GO_FORWARD;  break;
case 0x04:MOTOR_GO_STOP;  break;
case 0x05:MOTOR_GO_BACK; break;
   }

   if((Input_Detect_LEFT == 1) || (Input_Detect_RIGHT == 1) || (Input_Detect1==0))
{

Robots_Run_Status=0x04;
}
else //否则电机执行前进动作
{
   Robots_Run_Status=0x03;
}
}
//手臂动作展示
void ARMShow(void)
{

se_timer[0]=100;
Delay_Ms(1000);
se_timer[1]=70;
Delay_Ms(1000);
se_timer[2]=60;
Delay_Ms(1000);
se_timer[3]=50;
Delay_Ms(1000);

se_timer[3]=81;
Delay_Ms(1000);
se_timer[2]=160;
Delay_Ms(1000);
se_timer[1]=120;
Delay_Ms(1000);
se_timer[0]=140;
Delay_Ms(1000);
}

//手臂动作展示
void HeadShow(void)
{
   Beep=~Beep;
se_timer[7]=170;
Delay_Ms(1000);

se_timer[7]=0;
Delay_Ms(1000);
}

//发送超声波
void Send_wave(void)
{
uint16 i;

Trig = 1;
for(i=0;i<150;i++);
Trig = 0;
}
//获得距离值
uchar Get_Distance(void)
{
uint32 Distance = 0;

Send_wave();
TH1 = 0;
TL1 = 0;
while(TH1<250 && Echo!= 1);
if(TH1 <= 250) //测距范围<0.5M
{
   TH1 = 0;
   TL1 = 0;
   while(Echo == 1);
   Distance = TH1;
   Distance = Distance*256;
   Distance = Distance + TL1;
   Distance = Distance * 17;
   Distance = Distance / 22118;
   return (uchar)(Distance&0xFF);
}
}
//通过雷达避障
void AvoidByRadar(void)
{
if(Get_Distance()<0x0A)//如果雷达回波数据小于10厘米触发
{
   MOTOR_GO_STOP;
}
else
{
   MOTOR_GO_FORWARD;
}

}
void Send_Distance(void)
{
   UART_send_byte(0xFF);
   UART_send_byte(0x03);
   UART_send_byte(0x00);
   UART_send_byte(Get_Distance());
   UART_send_byte(0xFF);
   Delay_Ms(1000);
}
//模式执行子函数，根据标志位进行判断
void Cruising_Mod(void)
{

   if(Pre_Cruising_Flag != Cruising_Flag)
   {
      if(Pre_Cruising_Flag != 0)
   {
      MOTOR_GO_STOP;
   }

   Pre_Cruising_Flag =  Cruising_Flag;
   }

switch(Cruising_Flag)
{
   case 0x01:Follow_Track(); break;//跟随模式
   case 0x02:FollowLine(); break;//巡线模式
   case 0x03:Avoiding(); break;//避障模式
   case 0x04:AvoidByRadar();break;//超声波壁障模式
   case 0x05:ARMShow();break;
   case 0x06:HeadShow();break;
   default:break;
}
}

void Delay_ForBarrier(uint32 t)
{
uint16 i;
while(t--)
{
   for(i=0;i<1050;i++);
}
}

ID:699251 · 发表于 2020-3-25 23:59

return (uchar)(Distance&0xFF);这句为啥会报错

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