C51 COMPILER V8.02   FOLLOW                                                                07/29/2009 23:40:26 PAGE 1   


C51 COMPILER V8.02, COMPILATION OF MODULE FOLLOW
OBJECT MODULE PLACED IN Follow.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE Follow.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1          #include<reg51.h>
   2          #include"Config.h"
   3          #include"IOCfg.c"
   4          #include"TimeDLY.h"
   5          #include"StepMot.h"
   6          #include"Follow.h"
   7          
   8          //尋線函數(shù)：Follow()
   9          void  Follow(void)
  10          {
  11   1              INT8U temp;
  12   1              temp = Follow_L;
  13   1              temp = (temp<<1)|Follow_M;
  14   1              temp = (temp<<1)|Follow_R;
  15   1              switch(temp&0x07)
  16   1              {
  17   2                      //沒檢測到黑線時(shí)，原地打轉(zhuǎn)
  18   2                      case 0x00:  LMotRun(LSPEED);RMotStop();     break;
  19   2                      //僅右邊檢測到黑線時(shí)，左電機(jī)快轉(zhuǎn)，右電機(jī)慢轉(zhuǎn)
  20   2                      case 0x01:  LMotRun(HSPEED);RMotRun(LSPEED);break;
  21   2                      //僅中間檢測到黑線時(shí)，正常，左右電機(jī)都快轉(zhuǎn)
  22   2                      case 0x02:  LMotRun(HSPEED);RMotRun(HSPEED);break;
  23   2                      //中間以及右邊檢測到黑線時(shí)，左電機(jī)快轉(zhuǎn)，右電機(jī)慢轉(zhuǎn)
  24   2                      case 0x03:  LMotRun(HSPEED);RMotRun(LSPEED);break;
  25   2                      //僅左邊檢測到黑線時(shí)，左電機(jī)慢轉(zhuǎn)，右電機(jī)快轉(zhuǎn)
  26   2                      case 0x04:  LMotRun(LSPEED);RMotRun(HSPEED);break;
  27   2                      case 0x05:  break;  //不可能出現(xiàn)此情況
  28   2                      //中間以及左邊檢測到黑線時(shí)，左電機(jī)慢轉(zhuǎn)，右電機(jī)快轉(zhuǎn)
  29   2                      case 0x06:  LMotRun(LSPEED);RMotRun(HSPEED);break;      
  30   2                      //中間，左右邊都檢測到黑線時(shí)，原地打轉(zhuǎn)
  31   2                      case 0x07:  LMotRun(LSPEED);RMotStop();     break;
  32   2                      default: break;
  33   2                      }
  34   1              }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    114    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =   ----    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)