智能灭火机器人设计第程序文件

附录 1 main.c#include "wei.h"#defineP_IOA_Data(volatile unsigned int *)0x7000#defineP_IOA_Dir(volatile unsigned int *)0x7002#defineP_IOA_Attrib(volatile unsigned int *)0x7003#defineP_IOB_Data(volatile unsigned int *)0x7005#defineP_IOB_Dir(volatile unsigned int *)0x7007#defineP_IOB_Attrib(volatile unsigned int *)0x7008#defineP_TimerB_Data(volatile unsigned int *)0x700C#defineP_TimerB_Ctrl(volatile unsigned int *)0x700D#defineP_INT_Ctrl(volatile unsigned int *)0x7010#defineP_INT_Clear(volatile unsigned int *)0x7011#defineP_ADC(volatile unsigned int *)0x7014#defineP_ADC_Ctrl(volatile unsigned int *)0x7015#defineP_ADC_MUX_Ctrl(volatile unsigned int *)0x702B#defineP_ADC_MUX_Data(volatile unsigned int *)0x702C#defineC_FIQ_PWM0x8000// P_INT_Ctrl#defineC_FIQ_TMA0x2000// P_INT_Ctrl#defineC_FIQ_TMB0x0800// P_INT_Ctrl#defineC_IRQ4_1KHz0x0010// P_INT_Ctrl#defineC_IRQ4_2KHz0x0020// P_INT_Ctrl#defineC_IRQ4_4KHz0x0040// P_INT_Ctrl#defineC_IRQ5_2Hz0x0004// P_INT_Ctrl#defineC_IRQ5_4Hz0x0008// P_INT_Ctrl#defineC_TMB_32KHz0x0002// P_TimerB_Ctrl#defineC_TMB_PWM_OFF0x0000// P_TimerB_Ctrl#defineP_Watchdog_Clear(volatile unsigned int *)0x7012unsigned int mm,min,cny,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(unsigne...