search(?: |¿)

博客内容仅提及了'search(?: |¿)',未包含更多关键信息。

search(?: |¿)

#include "IRSEARCH.h" #include "delay.h" #include "motor.h" #include "stm32f10x.h" // Device header char ctrl_comm = COMM_STOP;//¿ØÖÆÖ¸Áî char ctrl_comm_last = COMM_STOP;//ÉÏÒ»´ÎµÄÖ¸Áî void IRSearchInit(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB , ENABLE); GPIO_InitStructure.GPIO_Pin = SEARCH_R_PIN;//ÅäÖÃʹÄÜGPIO¹Ü½Å GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÅäÖÃGPIOģʽ,ÊäÈëÉÏÀ­ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//ÅäÖÃGPIO¶Ë¿ÚËÙ¶È GPIO_Init(SEARCH_R_GPIO , &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = SEARCH_L_PIN;//ÅäÖÃʹÄÜGPIO¹Ü½Å GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÅäÖÃGPIOģʽ,ÊäÈëÉÏÀ­ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//ÅäÖÃGPIO¶Ë¿ÚËÙ¶È GPIO_Init(SEARCH_L_GPIO , &GPIO_InitStructure); } void SearchRun(void) { if(SEARCH_L_IO == WHITE_AREA && SEARCH_R_IO == WHITE_AREA) ctrl_comm = COMM_UP; else if (SEARCH_L_IO == BLACK_AREA && SEARCH_R_IO == WHITE_AREA) ctrl_comm = COMM_LEFT; else if (SEARCH_R_IO == BLACK_AREA & SEARCH_L_IO == WHITE_AREA) ctrl_comm = COMM_RIGHT; else ctrl_comm = COMM_STOP; if(ctrl_comm_last != ctrl_comm) { ctrl_comm_last = ctrl_comm; switch(ctrl_comm) { case COMM_UP: ZYSTM32_run(50,10);break; case COMM_DOWN: ZYSTM32_back(50,10);break; case COMM_LEFT: ZYSTM32_Left(50,10);break; case COMM_RIGHT: ZYSTM32_Right(50,10);break; case COMM_STOP: ZYSTM32_brake(10);break; default : break; } } }
07-16
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