C51 COMPILER V7.09   SYSTEM                                                                08/24/2007 09:38:43 PAGE 1   


C51 COMPILER V7.09, COMPILATION OF MODULE SYSTEM
OBJECT MODULE PLACED IN System.OBJ
COMPILER INVOKED BY: d:\Keil\C51\BIN\C51.EXE System.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          #include"LightDTC.h"
   8          #include"MetalDTC.h"
   9          #include"SegDisp.h"
  10          #include"UltraDTC.h"
  11          
  12          INT32U  RunTime=0;  //運(yùn)行時(shí)間
  13          INT8U   MetalNum=0; //直道的金屬塊數(shù)目
  14          
  15          void InitIO()
  16          {
  17   1              LMot_AP=0;LMot_AN=0;LMot_BP=0;LMot_BN=0;
  18   1              RMot_AP=0;RMot_AN=0;RMot_BP=0;RMot_BN=0;
  19   1              Follow_L=1;Follow_M=1;Follow_R=1;
  20   1              Metal_DTC=1;
  21   1              UltraDTC_TR=0;UltraDTC_RE=1;
  22   1              LightDTC_L=1;LightDTC_M=1;LightDTC_R=1;
  23   1              Guide=0;
  24   1              DS1CS=0;DS0CS=0;P2=0x00;
  25   1              }
  26                  
  27          void main()
  28          {
  29   1              INT8U i;
  30   1              InitIO();
  31   1              LMotRun(LSPEED);
  32   1              RMotRun(LSPEED);
  33   1              TMOD = TMOD | 0x20 ;        //T1 工作在方式2（8位計(jì)數(shù)器,自動(dòng)重載）
  34   1              TH1 = 0x00;
  35   1              TL1 = 0x9B;
  36   1              EA  = 1;
  37   1              ET1 = 1;
  38   1              TR1 = 1;
  39   1              while(1)
  40   1              {
  41   2                      do //直道運(yùn)行時(shí)間小于20秒，實(shí)際約為15秒
  42   2                      {
  43   3                              Follow();
  44   3                              if(Metal_Detec()) MetalNum++;
  45   3                              Seg_Disp((INT8U)(RunTime/10000));
  46   3                              }
  47   2                      while(RunTime<200000);
  48   2                      do
  49   2                      { 
  50   3                              Follow();
  51   3                              Seg_Disp((INT8U)(RunTime/10000));
  52   3                              }
  53   2                      while(Metal_DTC != 1);
  54   2                      //達(dá)到C點(diǎn),停留5s，斷續(xù)聲光指示
  55   2                      LMotStop();
C51 COMPILER V7.09   SYSTEM                                                                08/24/2007 09:38:43 PAGE 2   

  56   2                      RMotStop();
  57   2                      for(i=0;i<5;i++)
  58   2                      {
  59   3                              Guide = 1;
  60   3                              T0_Delay(5000);
  61   3                              Guide = 0;
  62   3                              T0_Delay(5000);
  63   3                              }
  64   2                      do //進(jìn)入障礙區(qū)
  65   2                      {
  66   3                              Ultra_DTC();
  67   3                              Seg_Disp((INT8U)(RunTime/10000));
  68   3                              }
  69   2                      while(RunTime<500000);
  70   2                      do //進(jìn)入停車區(qū)
  71   2                      {
  72   3                              Light_DTC();
  73   3                              Seg_Disp((INT8U)(RunTime/10000));
  74   3                              }
  75   2                      while(RunTime<800000);
  76   2                              //停車
  77   2                      LMotRun(HSPEED);
  78   2                      RMotRun(HSPEED);
  79   2                      LDelay(20000);
  80   2                      LMotStop();
  81   2                      RMotStop();
  82   2                      for(i=0;i<100;i++)
  83   2                              Seg_Disp((INT8U)(RunTime/10000));                                       
  84   2                      }
  85   1              }
  86                  
  87                  
  88          void Time1_IT(void) interrupt 3 
  89          {
  90   1              RunTime ++;
  91   1              }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    379    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      5       1
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


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