void Revise(void)
{
Go1(1);
Go2(2);
Go3(1);
Go4(2);
delay_MS(1560);
Go1(0);
Go2(0);
Go3(0);
Go4(0);
}
void Go3(int i,int j)
{
now++;
map[i][j]='Y';
if(now>max)
max=now;
if(j-1>=1&&map[i][j-1]=='.')
{
Go3(i,j-1);
}
else if(j-1<1||map[i][j-1]=='#')
{
if(i>1&&map[i-1][j]=='.')
Go4(i-1,j);
if(i<N&&map[i+1][j]=='.')
Go2(i+1,j);
}
map[i][j]='.';
now--;
}
void Go2(int i,int j)
{
now++;
map[i][j]='Y';
if(now>max)
max=now;
if(i+1<=N&&map[i+1][j]=='.')
{
Go2(i+1,j);
}
else if(i+1>N||map[i+1][j]=='#')
{
if(j>1&&map[i][j-1]=='.')
Go3(i,j-1);
if(j<N&&map[i][j+1]=='.')
Go1(i,j+1);
}
map[i][j]='.';
now--;
}
void Go(int d,int n,int t) //0号电机，参数1代表正转，2反转，0停止
{
unsigned long j=0,temp=0,i=0;
unsigned int flag=0,BreakTime=0,UnCountTime=800;
if(n==0)
{
UnCountTime=0;
n=1;
}
if(n<0)
{
BreakTime=t;
t=5;
n=1;
}
//n=0情况，前进距离由时间t控制******************************************
//***********************************************************
if(d==1)
{
Go1(1);
Go2(1);
for(;;)
{
i=j;
if((S10 White)&&(S12 Black)&&(S7 White)&&(S9 Black))
{
Go3(1);
Go4(1);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S9 White)&&(S7 Black)&&(S10 White)&&(S12 Black))
{
Go3(2);
Go4(1);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S12 White)&&(S10 Black)&&(S7 White)&&(S9 Black))
{
Go3(1);
Go4(2);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S12 White)&&(S10 Black)&&(S9 White)&&(S7 Black))
{
Go3(2);
Go4(2);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S11 White)&&(S7 White)&&(S9 Black))
{
Go3(1);
delay_MS(t);
Go3(0);
j++;
}
if((S11 White)&&(S9 White)&&(S7 Black))
{
Go3(2);
delay_MS(t);
Go3(0);
j++;
}
if((S8 White)&&(S10 White)&&(S12 Black))
{
Go4(1);
delay_MS(t);
Go4(0);
j++;
}
if((S8 White)&&(S12 White)&&(S10 Black))
{
Go4(2);
delay_MS(t);
Go4(0);
j++;
}
if((S11 White)&&(S8 White))
{
delay_MS(t);
j++;
}
if(j==i)
{
delay_MS(t);
j++;
}
if((BreakTime>0)&&(j*t>=BreakTime))
{
flag=n;
}
if((BreakTime==0)&&(j*t-temp>=UnCountTime)&&(Forward White))
{
flag++;
if(flag<n)
temp=j*t;
}
if(flag>=n)
{
Go1(0);
Go2(0);
break;
}
}
}
//*****************************************************************
if(d==2)
{
Go1(2);
Go2(2);
for(;;)
{
i=j;
if((S10 White)&&(S12 Black)&&(S7 White)&&(S9 Black))
{
Go3(1);
Go4(1);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S9 White)&&(S7 Black)&&(S10 White)&&(S12 Black))
{
Go3(2);
Go4(1);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S12 White)&&(S10 Black)&&(S7 White)&&(S9 Black))
{
Go3(1);
Go4(2);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S12 White)&&(S10 Black)&&(S9 White)&&(S7 Black))
{
Go3(2);
Go4(2);
delay_MS(t);
Go3(0);
Go4(0);
j++;
}
if((S11 White)&&(S7 White)&&(S9 Black))
{
Go3(1);
delay_MS(t);
Go3(0);
j++;
}
if((S11 White)&&(S9 White)&&(S7 Black))
{
Go3(2);
delay_MS(t);
Go3(0);
j++;
}
if((S8 White)&&(S10 White)&&(S12 Black))
{
Go4(1);
delay_MS(t);
Go4(0);
j++;
}
if((S8 White)&&(S12 White)&&(S10 Black))
{
Go4(2);
delay_MS(t);
Go4(0);
j++;
}
if((S11 White)&&(S8 White))
{
delay_MS(t);
j++;
}
if(j==i)
{
delay_MS(t);
j++;
}
if((BreakTime>0)&&(j*t>=BreakTime))
{
flag=n;
}
if((BreakTime==0)&&(j*t-temp>=UnCountTime)&&(Backward White))
{
flag++;
if(flag<n)
temp=j*t;
}
if(flag>=n)
{
Go1(0);
Go2(0);
break;
}
}
}
//******************************************
if(d==3)
{
Go3(1);
Go4(1);
for(;;)
{
i=j;
if((S3 White)&&(S1 Black)&&(S6 White)&&(S4 Black))
{
Go1(1);
Go2(1);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S3 White)&&(S1 Black)&&(S4 White)&&(S6 Black))
{
Go1(1);
Go2(2);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S1 White)&&(S3 Black)&&(S6 White)&&(S4 Black))
{
Go1(2);
Go2(1);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S1 White)&&(S3 Black)&&(S4 White)&&(S6 Black))
{
Go1(2);
Go2(2);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S2 White)&&(S6 Black)&&(S4 White))
{
Go2(2);
delay_MS(t);
Go2(0);
j++;
}
if((S2 White)&&(S4 Black)&&(S6 White))
{
Go2(1);
delay_MS(t);
Go2(0);
j++;
}
if((S5 White)&&(S3 Black)&&(S1 White))
{
Go1(2);
delay_MS(t);
Go1(0);
j++;
}
if((S5 White)&&(S1 Black)&&(S3 White))
{
Go1(1);
delay_MS(t);
Go1(0);
j++;
}
if((S2 White)&&(S5 White))
{
delay_MS(t);
j++;
}
if(j==i)
{
delay_MS(t);
j++;
}
if((BreakTime>0)&&(j*t>=BreakTime))
{
flag=n;
}
if((BreakTime==0)&&(j*t-temp>=UnCountTime)&&(Left White))
{
flag++;
if(flag<n)
temp=j*t;
}
if(flag>=n)
{
Go3(0);
Go4(0);
break;
}
}
}
//****************************************************
if(d==4)
{
Go3(2);
Go4(2);
for(;;)
{
i=j;
if((S3 White)&&(S1 Black)&&(S6 White)&&(S4 Black))
{
Go1(1);
Go2(1);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S3 White)&&(S1 Black)&&(S4 White)&&(S6 Black))
{
Go1(1);
Go2(2);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S1 White)&&(S3 Black)&&(S6 White)&&(S4 Black))
{
Go1(2);
Go2(1);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S1 White)&&(S3 Black)&&(S4 White)&&(S6 Black))
{
Go1(2);
Go2(2);
delay_MS(t);
Go1(0);
Go2(0);
j++;
}
if((S2 White)&&(S6 Black)&&(S4 White))
{
Go2(2);
delay_MS(t);
Go2(0);
j++;
}
if((S2 White)&&(S4 Black)&&(S6 White))
{
Go2(1);
delay_MS(t);
Go2(0);
j++;
}
if((S5 White)&&(S3 Black)&&(S1 White))
{
Go1(2);
delay_MS(t);
Go1(0);
j++;
}
if((S5 White)&&(S1 Black)&&(S3 White))
{
Go1(1);
delay_MS(t);
Go1(0);
j++;
}
if((S2 White)&&(S5 White))
{
delay_MS(t);
j++;
}
if(j==i)
{
delay_MS(t);
j++;
}
if((BreakTime>0)&&(j*t>=BreakTime))
{
flag=n;
}
if((BreakTime==0)&&(j*t-temp>=UnCountTime)&&(Right White))
{
flag++;
if(flag<n)
temp=j*t;
}
if(flag>=n)
{
Go3(0);
Go4(0);
break;
}
}
}
}
