#include "stm32f10x.h" #include #include #include "tcs.h" #include "timer.h" #include"stdbool.h" #include "delay.h" #define QTI1_Pin GPIO_Pin_0 #define QTI2_Pin GPIO_Pin_1 #define QTI3_Pin GPIO_Pin_2 #define QTI4_Pin GPIO_Pin_3 #define QTI15_Pin GPIO_Pin_15 #define leftservo GPIO_Pin_6 #define rightservo GPIO_Pin_7 /* -------------------------颜色传感器引脚电平控制定义--------------------------------------*/ #define S0_Write_1() GPIO_SetBits(GPIOE,GPIO_Pin_4) //写1 #define S0_Write_0() GPIO_ResetBits(GPIOE,GPIO_Pin_4) //写0 #define S1_Write_1() GPIO_SetBits(GPIOE,GPIO_Pin_5) #define S1_Write_0() GPIO_ResetBits(GPIOE,GPIO_Pin_5) #define S2_Write_1() GPIO_SetBits(GPIOE,GPIO_Pin_6) #define S2_Write_0() GPIO_ResetBits(GPIOE,GPIO_Pin_6) #define S3_Write_1() GPIO_SetBits(GPIOE,GPIO_Pin_8) #define S3_Write_0() GPIO_ResetBits(GPIOE,GPIO_Pin_8) #define LED_Write_1() GPIO_SetBits(GPIOE,GPIO_Pin_10) #define LED_Write_0() GPIO_ResetBits(GPIOE,GPIO_Pin_10) //OUT 接到PD2 /*********读取QTI的电平宏定义*******/ #define PE0_ReadBit() GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_0)//读PE0上的值 #define PE1_ReadBit() GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_1)//读PE1上的值 #define PE2_ReadBit() GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_2)//读PE2上的值 #define PE3_ReadBit() GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_3)//读PE3上的值 #define Yellow 3 #define White 1 #define Red 4 #define Black 2 #define Blue 5 extern int count_tcs230; /************************************函数声明************************/ void BlueCarry(void); //搬蓝色色块到分数区 void BlackCarry(void); //搬黑色色块到分数区 void YellowCarry(void); //搬黄色色块到分数区 void WhiteCarry(void); //搬白色色块到分数区 void RedCarry(void); //搬红色色块到分数区 /*---------------------------------结构变量、宏定义、变量、常量定义------------------------------------------------------------------------------*/ ErrorStatus HSEStartUpStatus; GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; TIM_ICInitTypeDef TIM_ICInitStructure; EXTI_InitTypeDef EXTI_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; USART_InitTypeDef USART_InitStructure; USART_ClockInitTypeDef USART_ClockInitStructure; int f_flag=1; int g_flag=0; int h_flag=1; int i_flag=0; volatile u16 times; volatile unsigned int time; char process=0; char Ahavesome = 1;//A有无色块标志 //比赛时候可以直接将抽到点的标志全部置1 char Bhavesome = 1;//B有无色块标志 char Chavesome = 1;//C有无色块标志 char Dhavesome = 1;//D有无色块标志 char Ehavesome = 1;//E有无色块标志 char Fhavesome = 0;//F有无色块标志 char Ghavesome = 0;//G有无色块标志 char Hhavesome = 0;//H有无色块标志 char Ihavesome = 0;//I有无色块标志 char pointsth=0;//在直线上放第几个色块 char findsekuai = 0;// 已经搬运色块的总个数 //char pointsth=3;//在直线上放第几个色块 //char findsekuai = 3;// 已经搬运色块的总个数 char Idone=0; char sekuai = 5;//色块的总个数 u16 pcolor[3]={0,0,0};//颜色传感器的比例因子 u16 RGB[3]={0,0,0}; int hadedone = 1; unsigned char QTIS;//循线的QTI状态 unsigned int color =0;//颜色代表值 unsigned int distance=0;//超声波测距 unsigned int speed=0;//电机速度 unsigned int pulses=0;//脉冲数 bool colorCheck = true; volatile char i=0,j=0; unsigned int i1=0; unsigned int goal=38; //搬运到目标点计分区的参数 //数值越大表步数约长 unsigned int a=0; //用来判断搬fg 和hi颜色是 需要修正的方向 int count = 1; //颜色识别次数计数 int LRp = 12; int aim = 7; bool have=true; /************************************* * @brief Configure peripheral RCC. * @param None * @retval None ************************************/ void RCC_Configuration(void) { /* 将外设RCC寄存器重设为默认值，即有关寄存器复位，但该函数不改禦CC_CR的HSITRIM[4:0]位，也不重置寄存器RCC_BDCR和寄存器RCC_CSR */ RCC_DeInit(); /* 使能外部HSE高速晶振 */ RCC_HSEConfig(RCC_HSE_ON); /* 等待HSE高速晶振稳定，或者在超时的情况下退出 */ HSEStartUpStatus = RCC_WaitForHSEStartUp(); /* SUCCESS:HSE晶振稳定且就绪，ERROR：HSE晶振未就绪 */ if(HSEStartUpStatus == SUCCESS) { /* 使能flash预取指令缓冲区。这两句跟RCC没直接关系 */ FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable); /* 设置FLASH存储器延时时钟周期数，2是针对高频时钟的， FLASH_Latency_0：0延时周期，FLASH_Latency_1：1延时周期 FLASH_Latency_2：2延时周期 */ FLASH_SetLatency(FLASH_Latency_2); /* HCLK=SYSCLK 设置高速总线时钟=系统时钟 */ RCC_HCLKConfig(RCC_SYSCLK_Div1); /* PCLK1=HCLK/2 设置低速总线1时钟=高速时钟的二分频*/ RCC_PCLK1Config(RCC_HCLK_Div2); /* PCLK2=HCLK 设置低速总线2时钟=高速总线时钟 */ RCC_PCLK2Config(RCC_HCLK_Div1); /* Set PLL clock output to 72MHz using HSE (8MHz) as entry clock */ /* 利用锁相环将HSE外部8MHz晶振9倍频到72MHz */ RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9); /* Enable PLL：使能PLL锁相环 */ RCC_PLLCmd(ENABLE); /* Wait till PLL is ready：等待锁相环输出稳定 */ /* RCC_FLAG_HSIRDY：HSI晶振就绪，RCC_FLAG_HSERDY：HSE晶振就绪 RCC_FLAG_PLLRDY：PLL就绪，RCC_FLAG_LSERDY：LSE晶振就绪 RCC_FLAG_LSIRDY：LSI晶振就绪，RCC_FLAG_PINRST：引脚复位 RCC_FLAG_PORRST：POR/PDR复位，RCC_FLAG_SFTRST：软件复位 RCC_FLAG_IWDGRST：IWDG复位，RCC_FLAG_WWDGRST：WWDG复位 RCC_FLAG_LPWRRST：低功耗复位 */ while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET) ; /* Select PLL as system clock source：将锁相环输出设置为系统时钟 */ /* RCC_SYSCLKSource_HSI：选择HSI作为系统时钟 RCC_SYSCLKSource_HSE：选择HSE作为系统时钟 RCC_SYSCLKSource_PLLCLK：选择PLL作为系统时钟*/ RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK); /* 等待PLL作为系统时钟标志位置位 */ /* 0x00：HSI作为系统时钟；0x04：HSE作为系统时钟 0x08：PLL作为系统时钟 */ while(RCC_GetSYSCLKSource() != 0x08); } /* Enable GPIOA~E and AFIO clocks：使能外围端口总线时钟。注意各外设的隶属情况，不同芯片和开发板的分配不同*/ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA| RCC_APB2Periph_GPIOB| RCC_APB2Periph_GPIOC| RCC_APB2Periph_GPIOD| RCC_APB2Periph_GPIOE| RCC_APB2Periph_AFIO, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); /* TIM3 clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 ,ENABLE); /* TIM5 clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); /* Enable USART1 clocks */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); } /************************************************ * @brief Configure NVIC. * @param None * @retval None ***********************************************/ void NVIC_Configuration(void) { #ifdef VECT_TAB_RAM /* Set the Vector Table base location at 0x20000000 */ NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0); #else /* VECT_TAB_FLASH */ /* Set the Vector Table base location at 0x08000000 */ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0); #endif /* Configure the Priority Grouping with 0 bit */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); /* Configure the Priority Grouping with 1 bit */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); /* Enable TIM2 global interrupt with Preemption Priority 1 and Sub Priority as 5 */ NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE; NVIC_Init(&NVIC_InitStructure); NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE; NVIC_Init(&NVIC_InitStructure); /* Configure the Priority Grouping with 2 bit */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); /* Enable TIM3 global interrupt with Preemption Priority 1 and Sub Priority as 6 */ NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE; NVIC_Init(&NVIC_InitStructure); /* Configure the Priority Grouping with 2 bit */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3); NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; //超声波 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd =ENABLE; NVIC_Init(&NVIC_InitStructure); } /************************************************ * @brief Configure the TIM2 Timer for 1ms. * @param None * @retval None ***********************************************/ void TIM2_Configure(void) { TIM_DeInit( TIM2);//复位TIM2定时器 TIM_TimeBaseStructure.TIM_Period = 99; TIM_TimeBaseStructure.TIM_Prescaler = 7199; TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM2, & TIM_TimeBaseStructure); /* Clear TIM2 update pending flag[清除TIM2溢出中断标志] */ TIM_ClearFlag(TIM2, TIM_FLAG_Update); /* Enable TIM2 Update interrupt [TIM2溢出中断允许]*/ TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); /* TIM2 enable counter [允许tim2计数]*/ TIM_Cmd(TIM2, DISABLE); } /************************************************ * @brief Configure the TIM3 Counter. * @param None * @retval None ***********************************************/ void TIM3_Counter_Configure(void) { TIM_TimeBaseStructure.TIM_Period = 0xFFFF;//设置自动装载寄存器 TIM_TimeBaseStructure.TIM_Prescaler = 0x00;//分频计数 TIM_TimeBaseStructure.TIM_ClockDivision = 0x00; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//选择向上计数 TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);// Time base configuration TIM_ETRClockMode2Config(TIM3, TIM_ExtTRGPSC_OFF, TIM_ExtTRGPolarity_NonInverted, 0); TIM_SetCounter(TIM3, 0);//设置计数器的值 TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//使能定时器中断 TIM_Cmd(TIM3, DISABLE); //使能定时器 } void TIM4_Configuration(void) { TIM_DeInit(TIM4); /* Time Base configuration */ TIM_TimeBaseStructure.TIM_Prescaler = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_Period = 0xffff; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure); TIM_PrescalerConfig(TIM4,71, TIM_PSCReloadMode_Immediate); /* enable preload value */ TIM_ARRPreloadConfig(TIM4,DISABLE); TIM_SetCounter(TIM4,0); //TIM4计数值清零 TIM_Cmd(TIM4,DISABLE); //TIM4计数器失能 } void TIM5_Configure(void) { TIM_DeInit(TIM5);//复位TIM5定时器 TIM_TimeBaseStructure.TIM_Period = 9; TIM_TimeBaseStructure.TIM_Prescaler = 7199; TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM5, & TIM_TimeBaseStructure); /* Clear TIM2 update pending flag[清除TIM2溢出中断标志] */ TIM_ClearFlag(TIM5, TIM_FLAG_Update); /* Enable TIM2 Update interrupt [TIM2溢出中断允许]*/ TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE); /* TIM2 enable counter [允许tim2计数]*/ TIM_Cmd(TIM5, DISABLE); } /************************************************ * @brief Configure USART1. * @param None * @retval None ***********************************************/ void USART1_Configuration(void) { USART_InitStructure.USART_BaudRate = 115200; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; USART_Init(USART1, &USART_InitStructure); USART_ClockInitStructure.USART_Clock = USART_Clock_Disable; USART_ClockInitStructure.USART_CPOL = USART_CPOL_Low; USART_ClockInitStructure.USART_CPHA = USART_CPHA_2Edge; USART_ClockInitStructure.USART_LastBit = USART_LastBit_Disable; USART_ClockInit(USART1, &USART_ClockInitStructure); /* Enables the USART1 transmit interrupt */ USART_ClearFlag(USART1, USART_FLAG_TC); /* Enable the USART1 */ USART_Cmd(USART1, ENABLE); } /************************************************ * @brief Configure the TCS230 Pins. * @param None * @retval None ***********************************************/ void GPIO_TCS230_Configure(void) { GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_7|GPIO_Pin_6|GPIO_Pin_8|GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(GPIOE, &GPIO_InitStructure); } /*********************************************** * @brief Configure USART1 Pins. * @param None * @retval None ***********************************************/ void GPIO_USART1_Configure(void) { /*USART1_TX*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA, &GPIO_InitStructure); /*USART1_RX*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA, &GPIO_InitStructure); } /************************************************ * @brief Configure the TIM3 Pins. * @param None * @retval None ***********************************************/ void GPIO_TIM3_Configure(void) { //设置TIM3的外部计数器 PD2 ETR （引脚的设置跟硬件有关） GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOD, &GPIO_InitStructure); } void GPIO_Dist_Config(void) { GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); } void GPIO_Motor_Config(void) { /* Configure Motors IO*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); } void GPIO_QTI_Config(void) { GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_15; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 GPIO_Init(GPIOE,&GPIO_InitStructure); } u8 QTI_State(u8 pin)//获取红外值 { return GPIO_ReadInputDataBit(GPIOE,pin); } /************************************************** * Function Name : fputc * Description : Retargets the C library printf function to the USART. **************************************************/ int fputc(int ch, FILE *f) { /* Place your implementation of fputc here */ USART1->SR;//不可少，否则出现首次发送首字符丢失 /* e.g. write a character to the USART */ USART_SendData(USART1, (u8) ch); /* Loop until the end of transmission */ while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET); // waiting here return ch; } void delay_nus(unsigned int n) //延时n us: n>=6,最小延时单位6us { unsigned int j; while(n--) // 外部晶振：8M；PLL：9；8M*9=72MHz { j=8; // 微调参数，保证延时的精度 while(j--); } } void delay_nms(unsigned int n) //延时n ms { while(n--) // 外部晶振：8M；PLL：9；8M*9=72MHz delay_nus(1100); // 1ms延时补偿 } void motor_motion1(unsigned int left_val, unsigned int right_val, unsigned int count) //左 右 计次 { unsigned int i; for(i=0; i 90)&&((RGB[0] - RGB[2]) > 60) && ((RGB[0] - RGB[1]) > 60)&&((RGB[2] - RGB[1]) < 80)) { return 3;//红色 } else if(((abs(RGB[0] - RGB[2])<50)&&(abs(RGB[0] - RGB[1])<50)&& (RGB[0]>100) ) ||( RGB[1]-RGB[2]<15 && RGB[0]>200 && (RGB[1]<80)) || ( (RGB[0]>200)&& (RGB[2]>200)&&(RGB[1]<15) ) ) { return 2;//白色 } else if((abs(RGB[0] - RGB[2])<30)&&(abs(RGB[0] - RGB[1])<30)&& (RGB[0]<40)&& (RGB[1]<40)&& (RGB[2]<40) ) { return 4;//黑色 } else if( ((RGB[0] < RGB[1]) && (RGB[2] < RGB[1])&&((RGB[1] - RGB[0])>10)) || ((RGB[0] < RGB[1]) && (RGB[2] < RGB[1])&&((RGB[1] - RGB[0])>5)) ) { return 5;//蓝色 } else if( (((RGB[2] - RGB[1]) > 80) && ((RGB[1] - RGB[0]) > 80)&&(RGB[2] > 90)) || (((RGB[2] - RGB[1]) > 50) && ((RGB[0]-RGB[1]) > 65) && RGB[1]>80 ) ) { return 1;//黄色 } return 0; } int GetDis(int echo,int trig) //获取超声波所测物块距离值 { int dis; int count; GPIO_ResetBits(GPIOC,echo); //echo端口复位 GPIO_ResetBits(GPIOC,trig); //trig端口复位 TIM_SetCounter(TIM4,0); //TIM4计数值清零 GPIO_SetBits(GPIOC,trig); //trig置高 发出10us的高电平信号 delay_nus(10); GPIO_ResetBits(GPIOC,trig); delay_nus(100); while(GPIO_ReadInputDataBit(GPIOC, echo) == 0); TIM_Cmd(TIM4,ENABLE); //开启计数器 //开启定时器开始计时 while(GPIO_ReadInputDataBit(GPIOC, echo)); //等待echo置低 TIM_Cmd(TIM4,DISABLE); //关闭计数器 count = TIM_GetCounter(TIM4);//获取计数器值 dis = (int)count/60.034;//转换为距离,即29.034us超声波能传播1cm return dis; } /* * //检测中间左QTI是否在黑线内 */ bool IsMLeftQtiBlack2(void) //检测中间左QTI是否在黑线内 { if(QTI_State(QTI3_Pin)==true) //判断中间左QTI是否检测到黑线 { //在黑线返回ture 不在黑线返回false delay_nms(2); if(QTI_State(QTI3_Pin)==true) { return true; } else { return false; } } else { return false; } } bool IsMLeftQtiBlack(void) //检测中间左QTI是否在黑线内 { if(QTI_State(QTI1_Pin)==true) //判断中间左QTI是否检测到黑线 { //在黑线返回ture 不在黑线返回false delay_nms(2); if(QTI_State(QTI1_Pin)==true) { return true; } else { return false; } } else { return false; } } bool IsMRightQtiBlack(void) //检测中间右QTI是否在黑线内 { if(QTI_State(QTI2_Pin)==true) //判断中间左QTI是否检测到黑线 { //在黑线返回ture 不在黑线返回false delay_nms(2); delay_nms(2); if(QTI_State(QTI2_Pin)==true) { return true; } else { return false; } } else { return false; } } bool IsMRightQtiBlack1(void) //检测中间右QTI是否在黑线内 { if(QTI_State(QTI3_Pin)==true) //判断中间左QTI是否检测到黑线 { //在黑线返回ture 不在黑线返回false delay_nms(2); delay_nms(2); if(QTI_State(QTI3_Pin)==true) { return true; } else { return false; } } else { return false; } } void PulseOut(uint8_t pin,int speed) //单轮旋转设置 { GPIO_SetBits(GPIOC,pin ); delay_nus(speed); GPIO_ResetBits(GPIOC,pin); } void stop(void)//停止 { int i; for(i=1;i<=2;i++) { GPIO_SetBits(GPIOC, GPIO_Pin_6); delay_nus(1500); GPIO_ResetBits(GPIOC,GPIO_Pin_6); GPIO_SetBits(GPIOC, GPIO_Pin_7); delay_nus(1500); GPIO_ResetBits(GPIOC,GPIO_Pin_7); delay_nms(20); } } void SpinLeft(void)// 左旋转 { PulseOut(leftservo,1480); PulseOut(rightservo,1480); delay_nms(20); } void SpinRight(void)// 右旋转 { PulseOut(leftservo,1520); PulseOut(rightservo,1520); delay_nms(20); } void TurnLeftAnyPulse(int pulses)//左旋转某个脉冲 pluses设置旋转角度 { while(pulses--) { SpinLeft(); //左旋转 delay_nms(2); } } void TurnRightAnyPulse(int pulses) //右旋转某个脉冲 pluses设置旋转角度 { while(pulses--) { SpinRight(); delay_nms(2); } } void findLline2(void) //找左边下一根线 { TurnLeftAnyPulse(8); while(1) { SpinLeft(); //左旋转 if(IsMLeftQtiBlack2()) // 中间左是否检测到黑线 { i1++; if(i1==2) { i1=0; break; } } } while(1) { SpinLeft(); if(!IsMLeftQtiBlack2()) { i1++; if(i1==2) { i1=0; break; } } } stop(); } void findLline(void) //找左边下一根线 { TurnLeftAnyPulse(8); while(1) { SpinLeft(); //左旋转 if(IsMLeftQtiBlack()) // 中间左是否检测到黑线 { i1++; if(i1==2) { i1=0; break; } } } while(1) { SpinLeft(); if(!IsMLeftQtiBlack()) { i1++; if(i1==2) { i1=0; break; } } } stop(); } void findRline(void) //找右边下一根线 { TurnRightAnyPulse(10); while(1) { SpinRight(); if(IsMRightQtiBlack()) { i1++; if(i1==2) { i1=0; break; } } } // stop(); while(1) { SpinRight(); if(!IsMRightQtiBlack()) { i1++; if(i1==2) { i1=0; break; } } } // stop(); } void findRline1(void) //找右边下一根线 { TurnRightAnyPulse(10); while(1) { SpinRight(); if(IsMRightQtiBlack1()) { i1++; if(i1==2) { i1=0; break; } } } // stop(); while(1) { SpinRight(); if(!IsMRightQtiBlack1()) { i1++; if(i1==2) { i1=0; break; } } } // stop(); } /* //函数名称：PE0_state() //功能： 获得左边第一个QTI的返回信号 //参数：无参数 //返回值：1：高电平，看到黑线；0：低电平，看到白线 */ int PE0_state(void) { return PE0_ReadBit(); } /* 函数名称：PE1_state() 功能： 获得左边第二个QTI的返回信号 参数：无参数 返回值：1：高电平，看到黑线；0：低电平，看到白线 */ int PE1_state(void) { return PE1_ReadBit(); } /* 函数名称：PE2_state() 功能： 获得右边第二个QTI的返回信号 参数：无参数 返回值：1：高电平，看到黑线；0：低电平，看到白线 */ int PE2_state(void) { return PE2_ReadBit(); } /* 函数名称：PE3_state() 功能： 获得右边第一个QTI的返回信号 参数：无参数 返回值：1：高电平，看到黑线；0：低电平，看到白线 */ int PE3_state(void) { return PE3_ReadBit(); } void motor_motion2(unsigned int left2_val, unsigned int right2_val) { GPIO_SetBits(GPIOC, GPIO_Pin_7); delay_nus(left2_val); GPIO_ResetBits(GPIOC,GPIO_Pin_7); GPIO_SetBits(GPIOC, GPIO_Pin_6); delay_nus(right2_val); GPIO_ResetBits(GPIOC,GPIO_Pin_6); delay_nms(20); //输出一定数量的PWM波形 } void Robot_hunting1(unsigned int speed) { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); switch (QTIS) { //case 0:motor_motion1(speed, (3000-speed)-35-10,3);break; case 1:motor_motion1(speed, (3000-speed)-35-10,3);break; case 2:motor_motion1(speed, (3000-speed)-35,1);break; case 3:motor_motion1(speed, (3000-speed)-35,1);break; case 4:motor_motion1(speed+35, (3000-speed),1);break; case 8:motor_motion1(speed+35+10, (3000-speed),3);break; case 12:motor_motion1(speed+35, (3000-speed),2);break; case 6:motor_motion2(speed+100, 3000-speed-100-2);break; default:motor_motion2(1550, 1450);break; } } void Robot_hunting2(unsigned int speed) { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); switch (QTIS) { case 1:motor_motion1(1500, 1400,2);break; case 2:motor_motion1(1500, 1400,1);break; case 3:motor_motion1(1500, 1400,1);break; case 4:motor_motion1(1600, 1500,1);break; case 8:motor_motion1(1600, 1500,2);break; case 12:motor_motion1(1600, 1500,1);break; case 6:motor_motion2(speed, 3000-speed);break; default:motor_motion2(speed, 3000-speed);break; } } void Robot_hunting(unsigned int speed) { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); switch (QTIS) { case 1:motor_motion1(speed, (3000-speed)-40-10,2);break;//左转 case 2:motor_motion1(speed, (3000-speed)-40,1);break;//左转 case 3:motor_motion1(speed, (3000-speed)-40,1);break;//左转 case 4:motor_motion1(speed+40, (3000-speed),1);break;//右转 case 8:motor_motion1(speed+40+10, (3000-speed),2);break;//右转 case 12:motor_motion1(speed+40, (3000-speed),1);break;//右转 case 6:motor_motion2(speed, 3000-speed-2);break; //直行 default:motor_motion2(speed, 3000-speed-2);break; //这一句不能省 } } void Peripheral_Init(void) //各模块初始化配置函数 { RCC_Configuration(); //时钟、外设使能 NVIC_Configuration(); //中断优先级划分 GPIO_USART1_Configure(); //串口1 IO口配置 USART1_Configuration(); //串口1配置 GPIO_TCS230_Configure(); //颜色传感器IO口配置 TIM2_Configure(); // 定时器2配置 GPIO_TIM3_Configure(); //定时器3外部计数引脚配置 TIM3_Counter_Configure();// 定时器3计数器配置 TIM5_Configure(); // 定时器5配置 GPIO_Motor_Config(); //两轮舵机IO引脚配置 GPIO_QTI_Config(); //QTI输入引脚配置 TIM4_Configuration(); //定时器4配置 GPIO_Dist_Config(); // } /*转弯控制函数*/ void TurnR_toBlackLine(void) //右转寻找下一条黑线 { motor_motion1(1515, 1515,5); //右转 do { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1515, 1515,1); } while(QTIS!=6); //检测循迹是否为1001 是则停止右转 do { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); //motor_motion1(1515, 1515,1); } while(QTIS!=6); //再次检测循迹是否为1001 motor_motion1(1515, 1515,1); } void TurnL_toBlackLine(void) //左转寻找下一条黑线 { motor_motion1(1485, 1485,10); do{ QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1485, 1485,1); } while(QTIS!=6); //检测循迹是否为1001 是则停止右转 delay_nms(5); do{ QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); //motor_motion1(1485, 1485,1); } while(QTIS!=6); //再次检测循迹是否为1001 motor_motion1(1485, 1485,1); //左偏一点 } void Turn1_180(void) // 快速旋转 //先向左偏移一定角度，然后向左旋转寻找下一条黑线 { motor_motion1(1350, 1350,15 ); //左偏一定角度 do{ QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1400, 1400,1); } while(QTIS!=6); //左旋转寻找黑线 也就是检测循迹是否为1001 delay_nms(5); while(QTIS!=6) { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1480, 1480,1); } //再次检测是否已经找到下一条黑线 } void Turn_180(void) // 慢速旋转 //先向左偏移一定角度，然后向左旋转寻找下一条黑线 { motor_motion1(1465, 1465,32 ); //左偏一定角度 do{ QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1465, 1465,1); } while(QTIS!=6); //左旋转寻找黑线 也就是检测循迹是否为1001 0110 motor_motion2(1500, 1500); // motor_motion1(1475, 1475,1); // delay_nms(5); // do{ // QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); // motor_motion1(1465, 1465,1); // }while(QTIS!=6); //再次检测是否已经找到下一条黑线 } void Turn_180_four(void) // 慢速旋转 //先向左偏移一定角度，然后向左旋转寻找下一条黑线 { motor_motion1(1465, 1465,35 ); //左偏一定角度 do{ QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1465, 1465,1); } while((QTIS!=6)&&(QTIS!=0x0f));//while(QTIS!=6); //左旋转寻找黑线 也就是检测循迹是否为1001 motor_motion1(1475, 1475,1); delay_nms(5); do{ QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1465, 1465,1); }while((QTIS!=6)&&(QTIS!=0x0f)); //再次检测是否已经找到下一条黑线 } void TurnRight_nDegree(char degree) //右转 degree 个角度 { motor_motion1(1522, 1522,degree);//1517 return; } void TurnLeft_nDegree(char degree) //右转 degree 个角度 { motor_motion1(1478, 1478,degree);//1485 return; } void Back_toBlack(void) //返回到黑线 { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); while(QTIS != 15) { QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); motor_motion1(1485,1512,1); } return; } void CCheck(void) //检查C点是否有色块 { motor_motion1(1500,1500,1); delay_nms(200); j=0; process = 9; } void BCheck(void) //检测B点是否有色块 { // TurnLeft_nDegree(10); findLline(); delay_nms(200); process = 11;//1; } void ACheck(void) //检测A点是否有色块 { TurnLeft_nDegree(30); //之前是60 findLline(); //加findLline();后TurnLeft_nDegree(40);减20 delay_nms(200); process = 1; } void ICheck(void) //检测I点是否有色块 { findLline(); findLline(); TurnLeft_nDegree(35+15-5);//左转n度 } void HCheck(void) //检测H点是否有色块 {findLline(); findLline(); TurnLeft_nDegree(38+10+10+9-9+5);//左转n度 Hhavesome = 1; } void GCheck(void) //检测G点是否有色块 {findRline(); findRline(); TurnRight_nDegree(50); Ghavesome = 1; } void FCarry(void) { } void GCarry(void) { } void HCarry(void) { } void ICarry(void) { } void FCheck(void) //检测F点是否有色块 { // findRline(); // findRline(); TurnRight_nDegree(21+90-10);//右转n度 stop(); delay_nms(200); /*j=0; for(i=0,j=0;i<10;i++) { distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); if(distance>0&&distance < 34) { j=j+1; } delay_nms(50); } if(j<1) { TurnRight_nDegree(2);//右转n度 delay_nms(200); for(i=0,j=0;i<10;i++) { distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); if(distance>0&&distance < 30) { j=j+1; } delay_nms(50); } } if(j<1) { TurnRight_nDegree(2);//右转n度 delay_nms(200); for(i=0,j=0;i<10;i++) { distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); if(distance>0&&distance < 34) { j=j+1; } delay_nms(200); } } if(j<1) { TurnLeft_nDegree(8);// delay_nms(200); for(i=0,j=0;i<10;i++) { distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); if(distance>0&&distance < 34) { j=j+1; } delay_nms(200); } } if(j >= 1) { delay_nms(100); Fhavesome = 1; } else { Fhavesome = 0; } j=0; a=1; */ Fhavesome = 1; // process = 11; // LED_Write_1(); } void ECheck(void) //检测E点是否有色块 { TurnRight_nDegree(30);//右转n度 delay_nms(200); findRline(); delay_nms(200); process = 2;//11; } void DCheck(void) //检测D点是否有色块 { findRline(); delay_nms(200); process =8; } /*--------------------------------------------------------------------------------------------------------- * Function name：DownFirst(void) * Description：把从A点搬运的色块从十字路口位置搬运回到直线上 ,并转弯回到十字路口位置 ---------------------------------------------------------------------------------------------------------*/ void DownFirst(void) //从十字路口把A色块运到起始位置在返回到十字路口 { time =0; TIM5_Configure(); TIM_Cmd(TIM5, ENABLE); //开始定时器5 do { Robot_hunting2(1550); }while(time < 2300); TIM_Cmd(TIM5, DISABLE); //关闭定时器5 motor_motion1(1450,1550,16); //后退 Turn1_180(); //转弯180度 do { Robot_hunting2(1540); }while(QTIS !=15); pulses = LRp; while(pulses--) { motor_motion2(1550, 1450); } // gai wei pulses = 2; while(pulses--) { Robot_hunting1(1580); } pointsth++; } /*--------------------------------------------------------------------------------------------------------- * Function name：DownSecond(void) * Description：把从B点搬运的色块从十字路口位置搬运回到直线上 ,并转弯回到十字路口位置，详细过程参DownFirst(void) ---------------------------------------------------------------------------------------------------------*/ void DownSecond(void) //从十字路口把B色块运到起始位置在返回到十字路口 { time =0; TIM5_Configure(); TIM_Cmd(TIM5, ENABLE); //开始定时器5 do { Robot_hunting2(1550); }while(time < 1900); TIM_Cmd(TIM5, DISABLE); motor_motion1(1450,1550,16);//后退 Turn1_180(); do { Robot_hunting2(1550); }while(QTIS != 15); pulses = LRp; while(pulses--) { motor_motion2(1550, 1450); //直行 } // gai wei pulses = 2; while(pulses--) { Robot_hunting1(1580); } //前进一小段距离 pointsth++; //直线上放了2块色块 } /*--------------------------------------------------------------------------------------------------------- * Function name：Downthird(void) * Description：把从c点搬运的色块从十字路口位置搬运回到直线上 ,并转弯回到十字路口位置，详细过程参DownFirst(void) 第一个搬的为c ---------------------------------------------------------------------------------------------------------*/ void Downthird(void) //从十字路口把C色块运到起始位置在返回到十字路口 { time =0; TIM5_Configure(); TIM_Cmd(TIM5, ENABLE); //开始定时器5 do { Robot_hunting2(1550); }while(time < 1500); TIM_Cmd(TIM5, DISABLE); motor_motion1(1450,1550,16); //后退 Turn1_180(); do { Robot_hunting2(1530); }while(QTIS != 15); //直行十字路口 pulses =LRp; while(pulses--) { Robot_hunting2(1545); } //前进一小段距离，目的是为下一次转到直线上 // gai wei pulses = 2; while(pulses--) { Robot_hunting1(1580); } pointsth++; //直线上放了3块色块 } /*--------------------------------------------------------------------------------------------------------- * Function name：DownFourth(void) * Description：把从D点搬运的色块从十字路口位置搬运回到直线上 ,并转弯回到十字路口位置，详细过程参DownFirst(void) ---------------------------------------------------------------------------------------------------------*/ void DownFourth(void) //从十字路口把D色块运到起始位置在返回到十字路口 { time =0; TIM5_Configure(); TIM_Cmd(TIM5, ENABLE); //开始定时器5 do { Robot_hunting2(1550); }while(time < 1000); /*TIM_Cmd(TIM5, DISABLE);*/ motor_motion1(1450,1550,16); //后退 Turn_180(); //后转 // Turn_180_four(); do { Robot_hunting1(1550); //直行 }while(QTIS != 15); //直行十字路口 pulses = LRp; while(pulses--) { motor_motion2(1550, 1450-50); //直行 } pulses = 2; while(pulses--) { Robot_hunting1(1580); } pointsth++; //直线上放了4块色块 } /*--------------------------------------------------------------------------------------------------------- * Function name：DownFiveth(void) * Description：把从E点搬运的色块从十字路口位置搬运回到直线上,详细过程参DownFirst(void) ---------------------------------------------------------------------------------------------------------*/ void DownFiveth(void) //从十字路口把E色块运到起始位置在返回到十字路口 { time =0; TIM5_Configure(); TIM_Cmd(TIM5, ENABLE); //开始定时器5 do { Robot_hunting2(1550); }while(time < 800); TIM_Cmd(TIM5, DISABLE); // motor_motion1(1450,1550,16); //后退 Turn_180(); //后转 // Turn_180_four(); // do // { // Robot_hunting1(1550); //直行 // }while(QTIS != 15); //直行十字路口 // // pulses = LRp; // // while(pulses--) // { // motor_motion2(1550, 1450); //直行 // } motor_motion2(1500,1500); delay_ms(50); // pulses = 2; // while(pulses--) // { // Robot_hunting1(1580); // } pointsth++; //直线上放了5块色块 } void GotoLine(void) { int tempa=0; switch(pointsth) // pointsth初始值为0 { case 0:DownFirst(); // 搬运A点时选择 break; case 1:DownSecond(); //搬运B点时选着 break; case 2:Downthird(); //搬运C点时选着 break; case 3:DownFourth(); //搬运E点时选着 break; case 4:DownFiveth(); //搬运F点时选着 break; default: break; } tempa++; tempa=0x22; } /*--------------------------------------------------------------------------------------------------------- * Function name：CarryGpoint(void) * Description：把从G点搬运的色块从十字路口位置搬运回到直线上,详细过程参 CarryIpoint(void) ****************从十字路口位置搬运回到直线上*************** ---------------------------------------------------------------------------------------------------------*/ void Gback(){ pulses=8; while(pulses--) { motor_motion2(1550, 1450); //直行 } //TurnRight_nDegree(80); //后转120 findLline(); /*do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15);// 循迹*/ pulses=15; while(pulses--) { Robot_hunting1(1550); //直行 } TurnLeft_nDegree(80);//左转n度 do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15); pulses=8; while(pulses--) { motor_motion2(1550, 1450); //直行 } findRline(); do { Robot_hunting1(1550); }while(QTIS != 15);//判断是否到达第一个路口 pulses = LRp-2; while(pulses--) { motor_motion2(1550, 1450); //直行 } // gai wei pulses = 2; while(pulses--) { Robot_hunting1(1580); } } void Hback(){ motor_motion1(1550, 1450,10); findRline(); pulses=15; while(pulses--) { Robot_hunting1(1550); //直行 } TurnRight_nDegree(100);//右转 do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15); pulses=12; while(pulses--) { motor_motion2(1550, 1450); //直行 } findLline(); do { Robot_hunting1(1550); }while(QTIS != 15);//判断是否到达第一个路口 pulses = LRp-2; while(pulses--) { motor_motion2(1550, 1450); //直行 } pulses = 2; while(pulses--) { Robot_hunting1(1580); } } void CarryGpoint(void) //从十字路口把G色块运到起始位置在返回到十字路口 { Ghavesome=0; do { motor_motion2(1540, 1460); QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); if(distance > 4 && QTIS == 15){ have = false; Gback(); process=3; //*****待改******待改***********待改******待改***********待改*********************待改************************8888 return; } }while(distance > 4); //机器朝着G点位置物块方向直走 pulses=15; do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15); pulses=50; while(pulses--) { motor_motion2(1550, 1450); //直行 } motor_motion1(1450,1550,30);//后退 TurnRight_nDegree(65-3); findRline(); do { Robot_hunting1(1550); }while(QTIS !=15); pulses=30-10; while(pulses--) { motor_motion2(1550, 1450); //直行 } TurnRight_nDegree(90+45-20); // findRline1(); // findRline1(); do { Robot_hunting1(1550); //直行 }while(QTIS != 15); pulses=15; while(pulses--) { motor_motion2(1550, 1450); //直行 } //直行十字路口 /*--------------------------------------------------------------------------------------------------------- * Function name：CarryHpoint(void) * Description：把从H点搬运的色块从十字路口位置搬运回到直线上,详细过程参 CarryIpoint(void) ---------------------------------------------------------------------------------------------------------*/ void CarryHpoint(void) { Hhavesome=0; do { motor_motion2(1540, 1460); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); if(distance > 4 && QTIS == 15){ have = false; Hback(); // process=3; //*****待改******待改***********待改******待改***********待改*********************待改************************8888 return; } }while(distance > 4); // pulses=15; do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15); pulses=50; while(pulses--) { motor_motion2(1550, 1450); //直行 } motor_motion1(1450,1550,25);//后退 TurnLeft_nDegree(65-9); findLline2(); do { Robot_hunting1(1550); }while(QTIS !=15); stop(); pulses=30-10; while(pulses--) { motor_motion2(1550, 1450); //直行 } stop(); TurnLeft_nDegree(90+45-10-5-20-10); // findRline1(); // findRline1(); stop(); do { Robot_hunting1(1550); //直行 }while(QTIS != 15); pulses=15; while(pulses--) { motor_motion2(1550, 1450); //直行 } //直行十字路口 void CarryCpoint(void) { Chavesome=0; do { Robot_hunting1(1550); }while(QTIS); pulses = 30; while(pulses--) { Robot_hunting1(1550); //直行 } Turn_180(); do { Robot_hunting1(1550); }while(QTIS !=15);//第一个路口 pulses = 15; while(pulses--) { motor_motion2(1550, 1450); //直行 } GotoLine(); findsekuai++; if(findsekuai==5) { process=11; Idone=1; } } /*--------------------------------------------------------------------------------------------------------- * Function name：CarryDpoint(void) * Description：把D点位置上色块搬运回到直线上 ,详细过程参看搬运A点CarryApoint(void) ---------------------------------------------------------------------------------------------------------*/ void CarryDpoint(void) //从十字路口把A色块运到起始位置在返回到十字路口 { Dhavesome=0; do { Robot_hunting1(1550); }while(QTIS); pulses = 35; while(pulses--) { Robot_hunting1(1550); //直行 } Turn_180(); delay_nms(200); do { Robot_hunting1(1540); }while(QTIS !=15);//第一个路口 pulses = 18; while(pulses--) { motor_motion2(1550, 1450); //直行 } findLline(); GotoLine(); findsekuai++; if(findsekuai==5) { process=11; Idone=1; } } /*--------------------------------------------------------------------------------------------------------- * Function name：CarryEpoint(void) * Description：把E点位置上色块搬运回到直线上 ,详细过程参看搬运A点CarryApoint(void) ---------------------------------------------------------------------------------------------------------*/ void CarryEpoint(void) //从十字路口把A色块运到起始位置在返回到十字路口 { Ehavesome=0; do { Robot_hunting1(1550); }while(QTIS); pulses = 40; while(pulses--) { Robot_hunting1(1550); //直行 } Turn_180(); do { Robot_hunting1(1550); }while(QTIS !=15);//第一个路口 pulses = 14; while(pulses--) { motor_motion2(1550, 1450); //直行 } findLline(); GotoLine(); findsekuai++; if(findsekuai==5) { process=11; Idone=1; } /* Ehavesome=0; do { Robot_hunting1(1550); }while(QTIS); pulses = 40; while(pulses--) { Robot_hunting1(1550); //直行 } Turn_180(); do { Robot_hunting1(1550); }while(QTIS !=15);//第一个路口 pulses = 14; while(pulses--) { motor_motion2(1550, 1450); //直行 } findLline(); GotoLine(); pulses = 18; while(pulses--) { motor_motion2(1550,1450); } findsekuai++; if(findsekuai==5) { process=11; Idone=1; } */ } /*--------------------------------------------------------------------------------------------------------- * Function name：CarryBpoint(void) * Description：把B点位置上色块搬运回到直线上 ,详细过程参看搬运A点CarryApoint(void) ---------------------------------------------------------------------------------------------------------*/ void CarryBpoint(void) //从十字路口把A色块运到起始位置在返回到十字路口 { do { Robot_hunting1(1550); }while(QTIS); pulses = 35; while(pulses--) { Robot_hunting1(1550); //直行 } Turn_180(); // stop(); do { Robot_hunting1(1550); }while(QTIS !=15);//第一个路口 pulses = 20; while(pulses--) { motor_motion2(1550, 1450); //直行 } stop(); TurnLeftAnyPulse(10); findRline(); GotoLine(); motor_motion2(1500, 1500); delay_ms(50); findsekuai++; if(findsekuai==5) { process=11; Idone=1; } } /*--------------------------------------------------------------------------------------------------------- * Function name：CarryApoint(void) * Description：把A点位置上色块搬运回到直线上 ---------------------------------------------------------------------------------------------------------*/ void CarryApoint(void) { Ahavesome=0; do { Robot_hunting1(1550); }while(QTIS); pulses = 35; while(pulses--) { Robot_hunting1(1550); //直行 } Turn_180(); //转弯180度 do { Robot_hunting1(1550); }while(QTIS !=15); pulses = 15; while(pulses--) // { motor_motion2(1550, 1450); //直行 } findRline(); //向右转弯到最近黑线上 GotoLine(); findsekuai++; if(findsekuai==5) { process=11; Idone=1; } } /*--------------------------------------------------------------------------------------------------------- * Function name： RedCarry(void) * Description：把红色色块搬运到对应的红色区域上 ---------------------------------------------------------------------------------------------------------*/ void goBackCenter(){ pulses = 25; while(pulses--) { Robot_hunting1(1540); }//判断是否到达第一个路口 Turn_180();//转弯180度 do { Robot_hunting1(1550); }while(QTIS != 15);//判断是否到达第一个路口 pulses = LRp; while(pulses--) { motor_motion2(1550, 1450); } //直行 } void gotoG(){ void moveBack(); if(!have){ moveBack(); process = 13; return ; } pulses = 22; while(pulses--) { Robot_hunting1(1550); }//判断是否到达第一个路口 TurnLeft_nDegree(35);//左转n度 do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15); pulses=10; while(pulses--) { motor_motion2(1550, 1450); //直行 } findLline(); //向右转弯到最近黑线上 do{ Robot_hunting(1540); //delay_nms(50); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); }while(distance>4 ); pulses = 10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } TurnLeft_nDegree(110);//左转n度 pulses=5; while(pulses--) { motor_motion2(1550, 1450); //直行 } do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(!QTIS); pulses=14; while(pulses--) { motor_motion2(1540, 1460); //直行 } findRline(); //向右转弯到最近黑线上 process = 11; } void gotoH(){ void moveBack(); if(!have){ moveBack(); process = 13; return ; } pulses = 22; while(pulses--) { Robot_hunting1(1550); }//判断是否到达第一个路口 TurnRight_nDegree(27);//左转n度 do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15); pulses=10; while(pulses--) { motor_motion2(1550, 1450); //直行 } findRline(); //向右转弯到最近黑线上 do{ Robot_hunting(1540); //delay_nms(50); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); }while(distance>4 ); pulses = 10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } TurnRight_nDegree(79);//左转n度 pulses=5; while(pulses--) { motor_motion2(1550, 1450); //直行 } do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(!QTIS); pulses=13; while(pulses--) { motor_motion2(1550, 1450); //直行 } findLline(); //向右转弯到最近黑线上 process = 11; } ///////////////////////////////////////////////// void RedCarry(void)//搬红色色块到分数区 { hadedone++; printf("hadedone:%d",hadedone); do { Robot_hunting1(1550); }while(QTIS);//当到达中间白点位置时就停止 stop(); pulses = 35; while(pulses--) { Robot_hunting1(1530); //直行 } stop(); /*pulses = goal-1; while( (GPIO_ReadInputData(GPIOE)&0x08000) || pulses--) { Robot_hunting1(1550); //直行 } */ while( !(GPIO_ReadInputData(GPIOE)&0x08000)) { delay_nms(50); Robot_hunting1(1502); //直行 } stop(); motor_motion1(1450,1550,25);//后退 stop(); Turn_180();//转弯180度 stop(); do { Robot_hunting1(1550); }while(QTIS !=15);//回到第一个路口 pulses = 10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } if(hadedone >= 6){ process=12; printf("process:%d",process); return; } if(hadedone >= 4) { TurnLeft_nDegree(180); // do // { // Robot_hunting1(1550); // }while(QTIS !=15);//第一个路口 // pulses = 15; //这个值是需要修改的 // while(pulses--) // { // Robot_hunting2(1530); // } } else { do{ Robot_hunting(1540); //delay_nms(50); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); }while(distance>5 ); pulses =10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } delay_nms(50); Turn_180(); process=11; } } /*--------------------------------------------------------------------------------------------------------- * Function name： WhiteCarry(void) * Description：把白色色块搬运到对应的区域上 ，详细讲解请参考函数RedCarry(void) ---------------------------------------------------------------------------------------------------------*/ void WhiteCarry(void)//搬白色色块到分数区 { hadedone++; printf("hadedone:%d",hadedone); TurnLeft_nDegree(10); findLline(); //左偏寻找下一条黑线 也就是白点对应的线 delay_nms(200); do { Robot_hunting1(1550); }while(QTIS); //当第一次检测到白点跳出循环0 pulses = 35; while(pulses--) { Robot_hunting1(1530); //直行 } /*pulses = goal-1; while( (GPIO_ReadInputData(GPIOE)&0x08000) || pulses--) { Robot_hunting1(1550); //直行 } */ while( !(GPIO_ReadInputData(GPIOE)&0x08000)) { delay_nms(50); Robot_hunting1(1502); //直行 } motor_motion1(1450,1550,25);//后退 Turn_180(); //旋转180度 可优化修改 do { Robot_hunting1(1550); }while(QTIS !=15); //第一个路口 pulses = 20; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } // findRline(); delay_nms(200); if(hadedone >= 6){ process=12; printf("process:%d",process); return; } // if(hadedone >= 5){ // //process=aim; // //goBackCenter(); // //gotoG(); // gotoH(); // return; // } if(hadedone >= 4) { TurnLeft_nDegree(135); // do // { // Robot_hunting1(1550); // }while(QTIS !=15);//第一个路口 // pulses = 15; //这个值是需要修改的 // while(pulses--) // { // Robot_hunting2(1530); // } } else { findRline(); do{ Robot_hunting(1535); //delay_nms(50); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); }while(distance>5); pulses =10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } delay_nms(50); Turn_180(); process=11; } } /*--------------------------------------------------------------------------------------------------------- * Function name：YellowCarry(void) * Description：把黄色色块搬运到对应的区域上 ，详细讲解请参考函数RedCarry(void) ---------------------------------------------------------------------------------------------------------*/ void YellowCarry(void)//搬黄色色块到分数区 { hadedone++; printf("hadedone:%d",hadedone); // if(QTTS == ) TurnLeft_nDegree(8);//左转n度 findLline(); //可能需要优化 暂定 delay_nms(200); findLline(); //寻找右边下一条最近的直线 motor_motion2(1500,1500); delay_ms(50); // while(1); do { Robot_hunting1(1550); }while(QTIS); pulses = 35; while(pulses--) { Robot_hunting1(1530); //直行 } /*pulses = goal-1; while( (GPIO_ReadInputData(GPIOE)&0x08000) || pulses--) { Robot_hunting1(1550); //直行 } */ while( !(GPIO_ReadInputData(GPIOE)&0x08000)) { delay_nms(50); Robot_hunting1(1502); //直行 } motor_motion1(1450,1550,25);//后退 Turn_180(); do { Robot_hunting1(1550); }while(QTIS !=15);//第一个路口 pulses = 15; //这个值是需要修改的 while(pulses--) { Robot_hunting2(1530); } // findRline(); TurnRight_nDegree(90); delay_nms(200); if(hadedone >= 6){ process=12; printf("process:%d",process); return; } if(hadedone >= 4) { Turn_180(); // do // { // Robot_hunting1(1550); // }while(QTIS !=15);//第一个路口 // pulses = 15; //这个值是需要修改的 // while(pulses--) // { // Robot_hunting2(1530); // } } else { do{ Robot_hunting(1540); //delay_nms(50); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); }while(distance>5); pulses = 10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } delay_nms(50); Turn_180(); process=11; } } /*--------------------------------------------------------------------------------------------------------- * Function name：BlackCarry(void) * Description：把黑色色块搬运到对应的区域上 ，详细讲解请参考函数RedCarry(void) ---------------------------------------------------------------------------------------------------------*/ void BlackCarry(void)//搬黑色色块到分数区 { hadedone++; printf("hadedone:%d",hadedone); findRline(); delay_nms(200); do { Robot_hunting1(1550); }while(QTIS); pulses = 40; while(pulses--) { Robot_hunting1(1520); //直行 } /*pulses = goal-1; while( (GPIO_ReadInputData(GPIOE)&0x08000) || pulses--) { Robot_hunting1(1550); //直行 } */ while( !(GPIO_ReadInputData(GPIOE)&0x08000)) { delay_nms(50); Robot_hunting1(1502); //直行 } motor_motion1(1450,1550,25);//后退 Turn_180(); do { Robot_hunting1(1550); }while(QTIS != 15);//第一个路口 pulses = 18; while(pulses--) { motor_motion2(1550, 1450); //直行 } // findLline(); if(hadedone >= 6){ process=12; printf("process:%d",process); return; } // if(hadedone >= 5){ // //process=aim; // //goBackCenter(); // //gotoG(); // gotoH(); // return; // } if(hadedone >= 4) { TurnRight_nDegree(135); // do // { // Robot_hunting1(1550); // }while(QTIS !=15);//第一个路口 // pulses = 15; //这个值是需要修改的 // while(pulses--) // { // Robot_hunting2(1530); // } } else { findLline(); do{ Robot_hunting(1540); //delay_nms(50); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); }while(distance>5); pulses = 10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } delay_nms(50); Turn_180(); process=11; } } /*--------------------------------------------------------------------------------------------------------- * Function name：BlueCarry(void) * Description：把蓝色色块搬运到对应的区域上 ，详细讲解请参考函数RedCarry(void) ---------------------------------------------------------------------------------------------------------*/ void BlueCarry(void)//搬蓝色色块到分数区 { hadedone++; printf("hadedone:%d",hadedone); // findRline(); // delay_nms(200); // findRline(); // delay_nms(200); TurnRight_nDegree(90);//右转n度 stop(); do { Robot_hunting1(1550); }while(QTIS); while( !(GPIO_ReadInputData(GPIOE)&0x08000)) { delay_nms(50); Robot_hunting1(1502); //直行 } delay_nms(200); pulses = 5; while(pulses--) { delay_nms(20); Robot_hunting1(1502); //直行 } // while( (GPIO_ReadInputData(GPIOE)&0x08000)) // { // delay_nms(50); // Robot_hunting1(1501); //直行 // } delay_nms(200); motor_motion1(1450,1550,18);//后退 Turn_180(); do { Robot_hunting1(1540); }while(QTIS != 15);//第二个路口 pulses = 14; while(pulses--) { motor_motion2(1550, 1450); //直行 } // findLline(); TurnLeft_nDegree(90); delay_nms(200); if(hadedone >= 6){ process=12; return; } // if(hadedone >= 5){ // //process=aim; // //goBackCenter(); // //gotoG(); // gotoH(); // return; // } // if(hadedone >= 4) { TurnRight_nDegree(180); // do // { // Robot_hunting1(1550); // }while(QTIS !=15);//第一个路口 // pulses = 15; //这个值是需要修改的 // while(pulses--) // { // Robot_hunting2(1530); // } } else { do{ Robot_hunting(1540); //delay_nms(50); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); }while(distance>3); pulses = 10; //前冲步数 可修改 优化 while(pulses--) { motor_motion2(1550, 1450); //直行 } delay_nms(50); Turn_180(); process=11; } } /*--------------------------------------------------------------------------------------------------------- * Function name：StartCarryToScore(void) * Description：开始搬运直线上物块 ---------------------------------------------------------------------------------------------------------*/ void StartCarryToScore(void) { count = 1; // 每次从1开始 printf("hadedone: %d\n",hadedone); if(hadedone >= 6){ process = 12; return; } if(hadedone >= 4&&hadedone <6){ if(f_flag==1) { FCheck(); FCarry(); } else if(g_flag==1) { GCheck(); GCarry(); } else if(h_flag==1) { HCheck(); HCarry(); } else if(i_flag==1) { ICheck(); ICarry(); } } else { delay_nms(200); // printf("Color: %d\n",Robot_checkColor()); printf("Color: %d\n",xm_colourjudge(pcolor)); colorCheck = true; while(colorCheck) { //color = Robot_checkColor();//识别颜色 color =xm_colourjudge(pcolor); count++; // if(color == 4) //color = Robot_checkColor();//识别颜色 // color =xm_colourjudge(pcolor); switch(color)//颜色选着 { case Red:RedCarry();colorCheck = false;break; case White:WhiteCarry();colorCheck = false;break; case Yellow:YellowCarry();colorCheck = false;break; case Black:BlackCarry();colorCheck = false;break; case Blue:BlueCarry();colorCheck = false;break; default:colorCheck = true;break; //////////////////////////////////////////////////////////////////////////////// } } } if(hadedone >= 6){ process = 12; colorCheck = false; } } /*--------------------------------------------------------------------------------------------------------- * Function name：CarryIpoint(void) * Description：把I点位置色块搬运到对应的区域上 ---------------------------------------------------------------------------------------------------------*/ void CarryIpoint(void) { Ihavesome=0; do { motor_motion2(1540, 1460); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); if(distance > 4 && QTIS == 15){ have = false; Hback(); // process=3; //*****待改******待改***********待改******待改***********待改*********************待改************************8888 return; } }while(distance > 4); // pulses=15; do { motor_motion2(1550, 1450); //直行 QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15); pulses=35; while(pulses--) { motor_motion2(1550, 1450); //直行 } motor_motion1(1450,1550,14);//后退 TurnLeft_nDegree(65-9); findLline2(); do { Robot_hunting1(1550); }while(QTIS !=15); stop(); pulses=30-10; while(pulses--) { motor_motion2(1550, 1450); //直行 } stop(); TurnLeft_nDegree(90+45-10-5-20-10); // findRline1(); // findRline1(); stop(); do { Robot_hunting1(1550); //直行 }while(QTIS != 15); pulses=15; while(pulses--) { motor_motion2(1550, 1450); //直行 } //直行十字路口 process=11; } void CarryFpoint(void) { if(Fhavesome==1) { Fhavesome=0; do { motor_motion2(1540, 1460); QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); distance = GetDis(GPIO_Pin_12,GPIO_Pin_13); if(distance > 4 && QTIS == 15){ have = false; Gback(); process=3; //*****待改******待改***********待改******待改***********待改*********************待改************************8888 return; } }while(distance > 4); //机器朝着F点位置物块方向直走 pulses=15; do { motor_motion2(1550, 1450); //直行 }while(!QTI_State(QTI4_Pin)); pulses=35; while(pulses--) { motor_motion2(1550, 1450); //直行 } motor_motion1(1450,1550,14);//后退 TurnRight_nDegree(65-3); findRline(); do { Robot_hunting1(1550); }while(QTIS !=15); pulses=30-5; while(pulses--) { motor_motion2(1550, 1450); //直行 } TurnRight_nDegree(90+45-10); do { Robot_hunting1(1550); //直行 }while(QTIS != 15); pulses=15; while(pulses--) { motor_motion2(1550, 1450); process=11; } } } void GoStart(void) { do { Robot_hunting1(1550); }while(QTIS != 15);//判断是否到达第一个路口 pulses = 15; while(pulses--) //走出出发区 { motor_motion2(1650, 1350); //直行 } do { Robot_hunting1(1550); }while(QTIS != 15);//判断是否到达第一个路口 pulses = LRp-2; while(pulses--) { motor_motion2(1550, 1450); //直行 } // gai wei pulses = 2; while(pulses--) { Robot_hunting1(1550); } } void moveBack(){ printf("gohome"); pulses = 10; while(pulses--) { Robot_hunting1(1560); //直行 } do { Robot_hunting1(1560); QTIS = (GPIO_ReadInputData(GPIOE)&0x0f); }while(QTIS != 15);//判断是否到达第一个路口 pulses = 40; while(pulses--) { motor_motion2(1550, 1450); //直行 } process = 13; } void turn_back(){ Turn_180(); process = 11; return; } //*************************************************************************************** void EXTIX_Init(void) { EXTI_InitTypeDef EXTI_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOE,ENABLE);//使能PORTA,PORTE时钟 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;//|GPIO_Pin_6|GPIO_Pin_7;//KEY0-KEY1 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //设置成上拉输入 GPIO_Init(GPIOE, &GPIO_InitStructure);//初始化GPIOE4,3 // //初始化 WK_UP-->GPIOA.0 下拉输入 // GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA0设置成输入，默认下拉 // GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.0 RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //使能复用功能时钟 // //GPIOE.3 中断线以及中断初始化配置 下降沿触发 //KEY1 // GPIO_EXTILineConfig(GPIO_PortSourceGPIOE,GPIO_PinSource3); // EXTI_InitStructure.EXTI_Line=EXTI_Line3; // EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; // EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; // EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器 // //GPIOE.4 中断线以及中断初始化配置 下降沿触发 //KEY0 // GPIO_EXTILineConfig(GPIO_PortSourceGPIOE,GPIO_PinSource4); // EXTI_InitStructure.EXTI_Line=EXTI_Line4; // EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器 //GPIOE.5 中断线以及中断初始化配置 下降沿触发 //KEY0 GPIO_EXTILineConfig(GPIO_PortSourceGPIOE,GPIO_PinSource5); EXTI_InitStructure.EXTI_Line=EXTI_Line5; EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器 NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; //使能按键KEY0所在的外部中断通道 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级2 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; //子优先级0 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道 NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器 } //******************************************************************************************/ void EXTI9_5_IRQHandler(void) { if( EXTI_GetITStatus(EXTI_Line5) != RESET) { count_tcs230++; // tim5_interruput_flag=0x01; } EXTI_ClearITPendingBit(EXTI_Line5); } //******************************************************************************************/ int main(void) { Peripheral_Init();//各模块初始化配置// TIM5_Int_Init(0xfff0-1,720-1); delay_init(); EXTIX_Init(); process =11;//4;//7;//5;//6; //将C/B/A/D/E/G/H点有的色块搬到开始线上，如果比赛，只需要修改该参数即可 程序首先从case11开始 // process =8; //将C/B/A/D/E/G/H点有的色块搬到开始线上，如果比赛，只需要修改该参数即可 程序首先从case11开始 led=1; delay_nms(1000); led=0; delay_nms(1000); xm_TCS230_WhiteBalance(pcolor); //白平衡 led=0; delay_nms(1000); led=0; delay_nms(1000); delay_nms(1000); // process = 8; //GoStart(); //走出开始区域 // process = 11; while(1) { //printf("process:%d\n",process); // motor_motion2(1500, 1500); // // process = 9; switch(process) //开始时process=1 { /**************一般1~10选着用不到********************************/ case 1: CCheck(); CarryCpoint(); break;//超声波检测c点 case 2: BCheck(); CarryBpoint(); // while(1); break;//超声波检测b点 case 3: ACheck(); CarryApoint(); break;//超声波检测a点 case 4: ICheck(); CarryIpoint(); break;//超声波检测i点 //i点为颜色识别跳出程序所在之处 case 5: HCheck(); CarryHpoint(); break;//超声波检测h点 case 6: GCheck(); CarryGpoint(); break;//超声波检测g点 case 7: FCheck(); CarryFpoint(); break;//超声波检测f点 case 8: ECheck(); CarryEpoint(); break;//超声波检测e点 case 9: DCheck(); CarryDpoint(); break;//超声波检测d点 //case 10:turn_back();break; case 11:StartCarryToScore(); break;//将C/B/A/D/E/G/H点有的色块搬计分区 case 12:moveBack(); break; default:break; } // // while(1); } }