void Moto_Control(void)
{
//unsigned char Left = SPEED;
//unsigned char Right = SPEED;
if(dir == 0xF1) //下楼
{
PITINTE = 0x00; // 关闭0路中断
SCI0CR2_RE = 0; //串口接收停止
stage = 0xF1;
//moto_run(15,15);
Delay_ms(1000); //延时5s
dir = 255;
SCI0CR2_RE = 1; //串口接收使能
PITINTE = 0x01; //打开0路中断
}
else if(dir == 0xF2)
{
stage = 0xF2;
dir = 255;
}
else if(dir == 0xF3)
{
stage = 0xF3;
dir = 255;
}
else if(dir == 0xF4)
{
stage = 0xF4;
dir = 255;
}
if(!dir) //路标不在视野内
{
flag = 0;
if((!flag)&&flag_old) //丢帧处理
{
moto_run(0,0);
//while(!dir);
PITINTE = 0x00; // 关闭0路中断
Delay_ms(100);
PITINTE = 0x01; // 关闭0路中断
}
else
{
if(stage == 0xF1) //第一阶段
{
moto_run(40,-20); //右转,直到第一个路标出现
}
else if(stage == 0xF2) //第二阶段
{
moto_run(-20,40); //左转,直到第二个路标出现
}
else if(stage == 0xF3) //第三阶段
{
moto_run(-20,40); //左转,直到第三个路标出现
}
else if(stage == 0xF4) //第四阶段
{
/* temp++;
if(temp == 1)
stage_4_flag = 1;
if(stage_4_flag)
{
PITINTE = 0x00; // 关闭0路中断
moto_run(30,30); //直行一段
Delay_ms(3000);
stage_4_flag = 0; //清标志
PITINTE = 0x01; // 打开0路中断
}
*/
moto_run(40,-20); //右转,直到第四个路标出现
}
}
flag_old = flag;
}
if((dir >= 26)&&(dir <= 34)) //途中......
{
flag = 1;
flag_old = flag;
Left = (dir - 30) * P;
Right = (30 - dir) * P;
Left_old = Left;
Right_old = Right;
moto_run(Left + SPEED,Right + SPEED);
}
else if(dir == 255)
{
moto_run(45,45);
}
}
void main(void)
{
sys_init();
//初始化电机控制信号
//subdiv = 16;
moto_set(int_speed,subdiv);
//Shutter = 0;
//Focus = 0;
//moto_run(100);
// Global enable interrupts
#asm("sei")
Lcd_Init();
delay_ms(5);
Init_BH1750(); //初始化BH1750
Clear_Scr();
MenuInitialation();
ShowMenu();
UserChooseR = 1;
while(1)
{
if(time_10ms) //10ms定时扫描键盘
{
time_10ms = 0;
*pRockValue=No_rock;
rocker_type = Read_Rocker(pRockValue);
if(rocker_type == keyPressed)
{
switch(*pRockValue)
{
case Down:
UserChooseR ++;
if(UserChooseR == 3)
{
UserChooseR = 1;
}
break;
case Enter:
TempMenu = MenuPoint;
Clear_Scr();
if(MenuPoint[UserChooseR].ChildrenMenus != NULL)
{
MenuPoint = MenuPoint[UserChooseR].ChildrenMenus;
//UserChooseR = 0;
//DisplayStart = 0;
}
ShowMenu();
if(TempMenu[UserChooseR].Subs != NULLSubs)
{
(*TempMenu[UserChooseR].Subs)();
}
//Clear_Scr();
break;
}
Set_Cursor(UserChooseR,1);
//ShowMenu();
}
key_value= Read_keyboard();
if(key_value != No_key)
{
switch(key_value)
{
case Esc:
work_mode = 0;
work_state = idle_state;
//TIMSK &= ~(1<<OCIE2);
break;
case OK:
work_mode = 1;
//TIMSK |= (1<<OCIE2);
break;
case 0:
moto_zero('A');
break;
case 1:
moto_zero('B');
break;
default:
break;
}
}
}
switch(work_state)
{
case idle_state:
if(work_mode)
{
work_state = step_run;
}
break;
case step_run:
moto_run(Int_step);
work_state = start_expos;
break;
case start_expos:
if(run_finish)
{
if( expos_mode == camera )
{ expos_value = def_tv; }
else if( expos_mode == sensor )
{ expos_value = Get_TV();}
else
{ expos_value = (long)1000*Str2Int(TV);}
flag_1ms = 0;
Shutter = 1;
Focus = 1;
work_state = stop_expos;
}
break;
case stop_expos:
if(expos_finish)
{
expos_finish = 0;
photo_taken++;
photo_left = exp_photos - photo_taken;
work_state = delay_state;
cnt_10ms = 0;
}
break;
case delay_state:
if(photo_taken == exp_photos)
{
work_mode = 0;
}
if(delay_finish)
{
delay_finish = 0;
work_state = idle_state;
}
break;
default:
break;
}
}
}
