//__________________________________________________________________________________
//版权：温州电子开发实验室 夏德仙 www.rf315.net
//用途：本程序仅限学习与交流之用     
//创建日期：2006
//最后修改日期：
//编译环境: Keil uVision3 V8.08a
//___________________________________________________________________________________

#include <AT89X55.H>

sbit l_whell_h=P0^7;   //左轮前进
sbit l_whell_b=P0^6;   //左轮后退
sbit r_whell_b=P0^5;   //右轮前进
sbit r_whell_h=P0^4;   //右轮后退
sbit speed_switch=P0^3; //速度切换


sbit roller_rise=P2^2;   //滚筒上升
sbit roller_down=P2^3;   //滚筒下降
sbit rollerf=P2^4;       //滚轴反转
sbit rollerz=P2^5;       //滚轴正转
sbit body_rise=P2^6;     //球箱上升
sbit body_down=P2^7;     //球箱下降

sbit b_r_confine=P3^0;   //球箱上限位
sbit b_d_confine=P3^1;   //球箱下限位

sbit rh_sensor=P1^0;         //巡线传感器前面的右边
sbit mh_sensor=P1^1;         //巡线传感器前面的中间
sbit lh_sensor=P1^2;         //巡线传感器前面的左边
sbit rb_sensor=P1^4;         //巡线传感器后面的右边
sbit mb_sensor=P1^5;         //巡线传感器后面的中间
sbit lb_sensor=P1^6;         //巡线传感器后面的左边
sbit lcoun_sensor=P1^7;      //巡线传感器计数器的左
sbit rcoun_sensor=P1^3;      //巡线传感器计数器的右

bit h_flag,b_flag,stop;
bit midst,left,right;
bit intersection;
unsigned char crossing,roller_position,t,time;

/********************************************************************************************************/

//定时器0中断
/************************************/
//定时50ms
/***********************************/
time0(void) interrupt 1 using 1
{  TH0=0x3c;
   TL0=0xa8;
   if(++t==20)
   {  t=0;
      time++;
   }
}

/********************************************************************************************************/

//延时子程序
void delay(i,j,k)
unsigned char i,j,k;
{  for(;i>0;i--)
   {  for(;j>0;j--)
      {  for(;k>0;k--);
	  }
   }
}

/*******************************************************************************************************/

//巡线
void cruise(void)
{  intersection=rh_sensor|mh_sensor|lh_sensor;
   if(intersection)
   {  if(!lcoun_sensor&&!rcoun_sensor&&!h_flag)
      {  crossing++;
	     h_flag=1;
      }
	  if(lcoun_sensor&&rcoun_sensor)
	  {  h_flag=0;
	  }
      while(mh_sensor)
      {  while(intersection&&!rh_sensor)
 	     {  
		    r_whell_h=1;
		    intersection=rh_sensor|mh_sensor|lh_sensor;
		 }
		 r_whell_h=0;
		 /*while(mh_sensor)
		 {  
		    l_whell_h=1;
			
		 }
		 l_whell_h=0;*/
		 while(intersection&&!lh_sensor)
		 {  
		    l_whell_h=1;
		    intersection=rh_sensor|mh_sensor|lh_sensor;
		 }
		 l_whell_h=0;
		 /*while(mh_sensor)
		 { 
		    r_whell_h=1;
		
		 }
		 r_whell_h=0;*/
	  }  
   }
   else
   {  while(mb_sensor)
      {  while(!intersection&&!rb_sensor)
	     {  r_whell_h=1;
		    intersection=rh_sensor|mh_sensor|lh_sensor;
		 }
	     r_whell_h=0;
		 while(mb_sensor)
		 {  l_whell_h=1;
		 }
		 l_whell_h=0;
		 while(!intersection&&!lb_sensor)
		 {  l_whell_h=1;
		    intersection=rh_sensor|mh_sensor|lh_sensor;
		 }
		 l_whell_h=0;
		 while(mb_sensor)
		 {  r_whell_h=1; 
		 }
		 r_whell_h=0;
		 if(!mh_sensor) break;
	  }
   }
}

/**************************************************************************************************/

//放球
void pitch(void)
{  if(crossing==3)
   {  stop=1;
      r_whell_h=1;
	  l_whell_h=1;
      while(b_r_confine)
	  {  body_rise=0;
	  }
	  body_rise=1;
	  rollerz=0;
	  delay(4,255,255);
	  roller_position=P0&0x07;
      while(roller_position!=0x05)
	  {  roller_down=0;
	     roller_position=P0&0x07;
	  }
	  roller_down=1;
	  while(roller_position!=0x06)
	  {  roller_rise=0;
	     roller_position=P0&07;
	  }
	  roller_rise=1;
	  delay(4,255,255);
	  rollerz=1;
	  crossing=0;
   }
   
}

/***************************************************************************************************/

//复位
void reposition(void)
{  while(b_d_confine)
   {  body_down=0;
   }
   body_down=1;
   roller_position=P0&0x07;
   while(roller_position!=0x06)
   {  roller_rise=0;
      roller_position=P0&0x07;
	  delay(1,1,255);
   }
   roller_rise=1;
}  

/*************************************************************************************************/

main(void)
{  
  TMOD=0x01;
  TH0=0x3c;
  TL0=0xa8;
  EA=1;
  ET0=1;
  reposition();
  l_whell_h=0;
  r_whell_h=0;
  TR0=1;
  time=0;
  while(1)
  { if(0)
    {  speed_switch=1;
	   TR0=0;
	}
	else
	{  speed_switch=0;
	}
    if(stop)
    {  l_whell_h=1;
       r_whell_h=1;
    }
    else
    {  cruise();
    }
    //pitch();
  }
}