/***********************************************************************
	_SEEKTRACK_C_
	A.Description:This file contains the functions of the	basic program
	of motors' driving and the program for seeking. 
	
	B.	Wenzhuo Fu
		Electic Class7
		Sep20,2008	 
		Bulid with Keil uVision3 .
**********************************************************************/
#include<seektrack.h>
#include<regx52.h>


/***********************************************************************
	
**********************************************************************/
void motor(bit lf,bit lb,bit rf,bit rb)
{
	lfward	=	lf	;
	lbward	=	lb	;
	rfward	=	rf	;
	rbward	=	rb	;
}
/***********************************************************************
	motor(0,0,0,0);	停止	motor(1,0,1,0); 向前	motor(1,0,0,1); 向右
	motor(0,1,1,0);	向左	motor(0,1,0,1); 向后	
**********************************************************************/
void  stop()
	{	motor(0,0,0,0);}

void  forward()
	{P3_4=!P3_4;
		motor(1,0,1,0);}

void  turnright()
	{	motor(1,0,0,1);}

void  turnleft()
	{	motor(0,1,1,0);}

void  backward()
	{	motor(0,1,0,1);}

/***********************************************************************
	形式參數：	i=0：向前，i=1：向右，i=2:向左.
**********************************************************************/
void seek(unsigned	int i)	
{
P3_3=!P3_3;
if(i==0	)
	{if( _rseek && !_lseek)  
		{r_trend =0;	l_trend =1;		}
	 if( _lseek && !_rseek)  
		{r_trend =1;	l_trend =0;		}
	 if(!_lseek&&!_rseek&&!_cseek)
	 	{if( r_trend)	turnleft();
	  	 if( l_trend)	turnright();	}
	 else 			   	forward();		}

if(i==1	) 							
	{if( _rseek	)
	 	{l_trend=1;		r_trend =0;	turnright();	}
	 if( _lseek && !_cseek)
		{r_trend =1;	l_trend =0;		}
	 if(!_lseek)
		{if( r_trend)	turnleft();
	  	 if( l_trend)	turnright();	}
	 else 				motor(1,0,1,0);	}
/*
if(i==2	) 							
	{if( _lseek	)
	 	{r_trend=1;		l_trend =0;	turnleft	();	}
	 if( _rseek && !_cseek)
		{r_trend =0;	l_trend =1;		}
	 if(!_rseek	)
		{if( r_trend)	turnleft	();
	  	 if( l_trend)	turnright	();	}
	 else 				forward		();	}*/
}