//__________________________________________________________________________________
//版权：温州电子开发实验室 夏德仙 www.rf315.net
//用途：    
//创建日期：2007.10
//最后修改日期：
//编译环境: Keil uVision3 V8.08a
//___________________________________________________________________________________
#include <REGX51.H>

typedef unsigned char uint8;
typedef unsigned int  uint16;

sbit DrivingMotorAL		= P0^0;
sbit DrivingMotorAR		= P0^1;
sbit DrivingMotorBL		= P0^2;
sbit DrivingMotorBR		= P0^3;
sbit ReelMotor			= P0^4;
sbit ConveyorMotor		= P0^5;

sbit VT		= P3^3;

uint8 RevData;

void GoAhead(void)
{
	DrivingMotorAL = 0;
	DrivingMotorAR = 1;
	DrivingMotorBL = 0;
	DrivingMotorBR = 1;
}

void Recede(void)
{
	DrivingMotorAL = 1;
	DrivingMotorAR = 0;
	DrivingMotorBL = 1;
	DrivingMotorBR = 0;	
}

void TurnRight(void)
{
	DrivingMotorAL = 0;
	DrivingMotorAR = 1;
	DrivingMotorBL = 1;
	DrivingMotorBR = 1;
}

void TurnLeft(void)
{
	DrivingMotorAL = 1;
	DrivingMotorAR = 1;
	DrivingMotorBL = 0;
	DrivingMotorBR = 1;
}

void Stop(void)
{
	DrivingMotorAL = 1;
	DrivingMotorAR = 1;
	DrivingMotorBL = 1;
	DrivingMotorBR = 1;
}

void ReelWork(void)
{
	ReelMotor = 0;
}

void ReelStop(void)
{
	ReelMotor = 1;
}

void ConveyorWiork(void)
{
	ConveyorMotor = 0;
}

void ConveyorStop(void)
{
	ConveyorMotor = 1;
}

void delay_us(uint16 time)
{
 	while(time--);
}

void ReceiveData(void)
{ 	

	P3 = 0xff;
 	delay_us(300);
 	if(VT == 1)
   	{
    	delay_us(300);
		if(VT == 1)
		{
    		RevData = (P3 & 0xf0) >> 4;
			while(VT);
		}
   	}
}

void main(void)
{ 
 	P0 = 0xff;

 	while(1)
   	{
    	ReceiveData();
    	switch(RevData)
	   	{
	    	case 0x08: 		//'1'前进
				GoAhead();
			break;
			case 0x04: 		//'2'后退
				Recede();	
			break;
			case 0x0c: 		//'3'左转
				TurnLeft();
			break;
			case 0x02: 		//'4'右转
				TurnRight();
			break;
			case 0x0a: 		//'5'卷筒和传送带工作
				ReelWork();
				ConveyorWiork();	
			break;
			case 0x06: 		//'6'卷筒和传送带停止
				ReelStop();
				ConveyorStop();	
			break;
			case 0x0e: 		//'7'无操作
			break;
			case 0x01: 		//'8'停止
				Stop();
			break;
	   	}
   	}
}