#define P_IOA_Dir (volatile unsigned int *)0x7002
#define P_IOA_Attrib (volatile unsigned int *)0x7003
unsigned int scan();//檢測黑線函數定聲明
unsigned int num=0;
void delay();
void init_1()//輸入初始化
{
[P_IOA_Dir]=0x00f0;
[P_IOA_Attrib]=0x00f0;
[P_IOA_Data]=0x000f;
}
//void init_2()//輸出初始化
//{
//[P_IOA_Dir]=1;
//[P_IOA_Attrib]=1;
//[P_IOA_Data]=0;
//}
void main()
{
while(1)
{
void init_1();
num=scan();
//void init_2();
switch(num)
{
case 1:
{
while(1)
{
[P_IOA_Data]=0x9f;
delay(500);
// if([P_IOA_Data]==1)//傳感器返回1，則終止轉彎，下同
break;
}
}
case 2:
{
while(1)
{
[P_IOA_Data]=0x9f;
delay(500);
break;
}
}
case 4:
{
while(1)
{
[P_IOA_Data]=0x6f;
delay(500);
break;
}
}
case 5:
{
while(1)
{
[P_IOA_Data]=0x6f;
delay(500);
break;
}
}
case 0:
{
while(1)
{
[P_IOA_Data]=0x5f;
delay(500);
break;
}
}
}
[P_IOA_Data]=0x5f;//直走
delay(500);
}
}
void delay(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=110;y>0;y--);
}
unsigned int scan()
{
if(P_IOA_Data==0xfe)
{
num=1;
return num;
}
if(line_2==0xfd)
{
num=2;
return num;
}
if(line_4==0xfb)
{
num=4;
return num;
}
if(line_5==0xf7)
{
num=5;
return num;
}
return 0;
}