برنامه ی ربات مسیر یاب را بنویسید؟(باavr)
- برنامه ی ربات مسیر یاب را بنویسید؟
$regfile = "m32def.dat"
$crystal = 4000000
'Config Lcdpin = Pin , Db4 = Portb.2 , Db5 = Portb.3 , Db6 = Portb.4 , Db7 = Portb.5 , E = Portb.1 , Rs = Portb.0
'Config Lcd = 16 * 2
'Config Pind.6 = Input
'Config Pind.5 = Input
Config Portd.1 = Output
Config Portd.2 = Output
Config Portd.3 = Output
Config Portd.4 = Output
Config Adc = Single , Prescaler = Auto , Reference = Avcc
Dim A As Word
Dim B As Word
Dim C As Word
Dim D As Word
Dim E As Word
Dim F As Word
Dim G As Word
Dim H As Word
Dim 00 As Byte
Dim 01 As Byte
Dim 02 As Byte
Dim 03 As Byte
'S1 Alias Pind.6
'S2 Alias Pind.5
Mra Alias Portd.4 'motor rast jelo
Mrj Alias Portd.3 'motor rast aghab
Mcj Alias Portd.2 'motor chap jelo
Mca Alias Portd.1 'motor chap aghab
Portd = &B00000000
Porta = &B00000000
Start Adc
Declare Sub Jelo0
Declare Sub Right0
Declare Sub Left0
Declare Sub Get_adc
'Declare Sub Lcd0
Cursor Off
'*****************************
Do
H = 205
Call Get_adc
If A < H And B < H And C < H And D < H And E < H And F < H And G < H Then Jelo0
If A < H And B < H And C < H And D < H And E < H And F < H And G > H Then Jelo0
If A < H And B < H And C < H And D < H And E > H And F > H And G > H Then Jelo0
If A > H And B > H And C < H And D < H And E < H And F < H And G > H Then Jelo0
If A < H And B < H And C > H And D > H And E < H And F < H And G > H Then Jelo0
'darone sefid
'(
'----------------------------
If A < H And B < H And C < H And D < H And E > H And F > H And G < H Then Jelo0
If A > H And B > H And C < H And D < H And E > H And F > H And G < H Then Jelo0
If A > H And B > H And C < H And D < H And E > H And F > H And G > H Then Jelo0
'sefid be siah
'--------------------------
If A > H And B > H And C > H And D > H And E > H And F > H And G > H Then Jelo0
If A > H And B > H And C > H And D > H And E > H And F > H And G < H Then Jelo0
If A > H And B > H And C > H And D > H And E < H And F < H And G < H Then Jelo0
If A < H And B < H And C > H And D > H And E > H And F > H And G < H Then Jelo0
If A > H And B > H And C < H And D < H And E > H And F > H And G < H Then Jelo0
'daron siah
'----------------------------
If A > H And B > H And C > H And D > H And E < H And F < H And G > H Then Jelo0
If A < H And B < H And C > H And D > H And E < H And F < H And G > H Then Jelo0
If A < H And B < H And C > H And D > H And E < H And F < H And G < H Then Jelo0
'siah be sefid
')
'--------------------------
If A > H And B < H And C < H And D < H And E < H And F < H And G < H Then Right0
If A < H And B < H And C > H And D < H And E < H And F < H And G < H Then Right0
If A > H And B < H And C > H And D < H And E < H And F < H And G < H Then Right0
If A < H And B < H And C < H And D < H And E < H And F > H And G > H Then Right0
If A < H And B < H And C < H And D < H And E < H And F > H And G < H Then Right0
If A > H And B < H And C > H And D < H And E < H And F > H And G < H Then Right0
'(-----
If A < H And B > H And C < H And D < H And E < H And F > H And G > H Then Right0
If A < H And B > H And C < H And D > H And E < H And F > H And G > H Then Right0
If A < H And B < H And C < H And D > H And E < H And F > H And G > H Then Right0
If A < H And B > H And C < H And D < H And E < H And F > H And G < H Then Right0
If A < H And B > H And C < H And D > H And E < H And F > H And G < H Then Right0
')
'( 'darone sefid
If A < H And B > H And C > H And D > H And E > H And F > H And G > H Then Right0
If A > H And B > H And C < H And D > H And E > H And F > H And G > H Then Right0
If A < H And B > H And C < H And D > H And E > H And F > H And G > H Then Right0
If A > H And B > H And C > H And D > H And E > H And F < H And G < H Then Right0
If A > H And B > H And C > H And D > H And E > H And F < H And G > H Then Right0
If A < H And B > H And C < H And D > H And E > H And F < H And G > H Then Right0
')
'(-----
If A > H And B < H And C > H And D > H And E > H And F < H And G < H Then Right0
If A > H And B < H And C > H And D < H And E > H And F < H And G < H Then Right0
If A > H And B > H And C > H And D < H And E > H And F < H And G < H Then Right0
If A > H And B < H And C > H And D > H And E > H And F < H And G > H Then Right0
If A > H And B < H And C > H And D < H And E > H And F < H And G > H Then Right0
')
'darone siah
'------------------------
If A < H And B > H And C < H And D < H And E < H And F < H And G < H Then Left0
If A < H And B < H And C < H And D > H And E < H And F < H And G < H Then Left0
If A < H And B > H And C < H And D > H And E < H And F < H And G < H Then Left0
If A < H And B < H And C < H And D < H And E > H And F < H And G > H Then Left0
If A < H And B < H And C < H And D < H And E > H And F < H And G < H Then Left0
If A < H And B > H And C < H And D > H And E > H And F < H And G < H Then Left0
'(-----------
If A > H And B < H And C < H And D < H And E > H And F < H And G > H Then Left0
If A > H And B < H And C > H And D < H And E > H And F < H And G > H Then Left0
If A < H And B < H And C > H And D < H And E > H And F < H And G > H Then Left0
If A > H And B < H And C < H And D < H And E > H And F < H And G < H Then Left0
If A > H And B < H And C > H And D < H And E > H And F < H And G < H Then Left0
') 'darone sefid
'-------------------------
'(
If A > H And B < H And C > H And D > H And E > H And F > H And G > H Then Left0
If A > H And B > H And C > H And D < H And E > H And F > H And G > H Then Left0
If A > H And B < H And C > H And D < H And E > H And F > H And G > H Then Left0
If A > H And B > H And C > H And D > H And E < H And F > H And G < H Then Left0
If A > H And B > H And C > H And D > H And E < H And F > H And G > H Then Left0
If A > H And B < H And C > H And D < H And E < H And F > H And G > H Then Left0
'-----
')
'(
If A < H And B > H And C > H And D > H And E < H And F > H And G < H Then Left0
If A < H And B > H And C < H And D > H And E < H And F > H And G < H Then Left0
If A > H And B > H And C < H And D > H And E < H And F > H And G < H Then Left0
If A < H And B > H And C > H And D > H And E < H And F > H And G > H Then Left0
If A < H And B > H And C < H And D > H And E < H And F > H And G > H Then Left0
') 'darone siah
Loop
'******************************
Jelo0:
'Call Lcd0
Set Mrj
Set Mcj
Reset Mra
Reset Mca
'Call Get_adc
Return
'******************************
Left0:
'Call Lcd0
Set Mra
Set Mcj
Reset Mrj
Reset Mca
'Call Get_adc
Return
'*****************************
Right0:
'Call Lcd0
Set Mrj
Set Mca
Reset Mra
Reset Mcj
'Call Get_adc
Return
'*****************************
Sub Get_adc
A = Getadc(6) 'A
B = Getadc(5) 'B
C = Getadc(4) 'C
D = Getadc(3) 'D
E = Getadc(1) 'E
F = Getadc(2) 'F
G = Getadc(7) 'G
Return
End Sub
'***************************
'(
Sub Lcd0
Cursor Off
Cls
Locate 1 , 1
Lcd A ; " " ; B ; " " ; C ; " " ; D
Locate 2 , 1
Lcd E ; " " ; F ; " " ; G ; " " ; "L"
Return
End Sub
End
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