/*
?*?Robotver3mod.c?-?Program?that?runs?the?Engs?147?robot
?*
?*?Dan?Magoon?Jennifer?Jain?Jonah?Sternthal?Joe?Leonor
?*
?*?Spring?2018
?*?June?4th?2018
?*/

#memmap?xmem????//Force?compilation?to?extended?memory?when?the?program?gets?large
#use?BL26XX.lib???//Import?Library?for?BL2600

#define?DATA???0x00ff
#define?RD?????8
#define?WR?????9
#define?CS1????10
#define?CS2????11
#define?YX?????12
#define?CD?????13
#define?BP_RESET????????0X01????????//?reset?byte?pointer
#define?EFLAG_RESET?????0X86????????//?reset?E?bit?of?flag?register
#define?CNT?????????????0x01???????//?access?control?register
#define?DAT?????????????0x00???????//?access?data?register
#define?BP_RESETB???????0X81????????//?reset?byte?pointer?（x?and?y）
#define?CLOCK_DATA??????2????????//?FCK?frequency?divider
#define?CLOCK_SETUP?????0X98?????//?transfer?PR0?to?PSC?（x?and?y）
#define?INPUT_SETUP????????0XC7?????//?enable?inputs?A?and?B?（x?and?y）
???????????????????????????????????//?set?indexing?function?to?load?OL?and
???????????????????????????????????//?A?and?B?enable?gate?TWP?4/2/12
#define?QUAD_X1????????????0XA8?????//?quadrature?multiplier?to?1?（x?and?y）
#define?QUAD_X2????????????0XB0?????//?quadrature?multiplier?to?2?（x?and?y）
#define?QUAD_X4????????????0XB8?????//?quadrature?multiplier?to?4?（x?and?y）
#define?CNTR_RESET?????????0X02?????//?reset?counter
#define?CNTR_RESETB????????0X82?????//?reset?counter?（x?and?y）
#define?TRSFRPR_CNTR???????0X08?????//?transfer?preset?register?to?counter
#define?TRSFRCNTR_OL???????0X90?????//?transfer?CNTR?to?OL?（x?and?y）
#define?XYIDR_SETUP????????0XE1?????//?set?index?cntrl?register?to?active?low
???????????????????????????????????//?input.?index?input?is?pulled?up?to?+5V
???????????????????????????????????//?in?hardware?to?disable?index?functions
???????????????????????????????????//?TWP?4/2/2012
#define?HI_Z_STATE??0xFF

/****************?CONSTANT?DECLERATIONS?****************/
#define?LEFT????????1?????//?left?wheel?motor?encoder?ID
#define?RIGHT???????2?????//?right?wheel?motor?encoder?ID
#define?TOP?????????3?????//?IR?sensor?motor?encoder?ID

//?Robot?Specifications
#define?WHEELbase?15.4?????//?cm?wheelbase?of?bot
#define?STEP?0.0160?????//cm?per?encoder?tick?of?wheel

//?Mathematical?Constants
#define?PIE?3.14159265
#define?HALFPIE?1.57079633

//?Mapping?Constants
#define?BOXES?77?????//?initialize?grid?size?to?BOXES?x?BOXES
#define?MAPSIZE?5929?????//?=?BOXES*BOXES
#define?BOXLENGTH?5?????//?cm?length?per?box?on?grid

#define?MAPFILTER?100?????//?points-per-box?required?for?an?obstacle?to?be?live?on?map
#define?REQWEIGHT?4?????//?points-per-box?threashold?for?an?obstacle?and?neighbors
#define?DEWEIGHT?0?????//?amount?below?mapfilter?to?push?down?values?of?neighborless?boxes
#define?NEIGHBORS?2?????//?amount?of?neighbors?required?to?be?obstacle
#define?LOOKAHEAD?10?????//?cm?distance?to?lead?bot?in?calculations

//?Driving?Speeds
#define?VHIGH?1?????//?max?v

?屬性????????????大小?????日期????時(shí)間???名稱
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?????文件???????7047??2019-02-20?00:43??復(fù)雜1.txt

?????文件???????5772??2019-02-18?15:54??開口.txt

?????文件???????5772??2019-02-18?16:03??一.txt

?????文件??????10959??2019-02-21?21:46??原始代碼.txt

????.......???????333??2018-06-06?02:57??AutonomousRobotNavigation-master\AutonomousRobotNavigation-master\README.md

????.......???7950168??2018-06-06?02:57??AutonomousRobotNavigation-master\AutonomousRobotNavigation-master\Reportpdf.pdf

?????文件??????30863??2018-06-06?02:57??AutonomousRobotNavigation-master\AutonomousRobotNavigation-master\Robotver5.c

?????文件?????139776??2019-02-18?20:19??圖3.doc

?????文件???????6163??2019-02-19?13:37??四道杠.txt

?????文件???????5772??2019-02-18?16:17??二.txt

?????文件???????7427??2019-02-20?01:04??復(fù)雜2.txt

?????目錄??????????0??2018-06-06?02:57??AutonomousRobotNavigation-master\AutonomousRobotNavigation-master

?????目錄??????????0??2019-02-21?21:51??AutonomousRobotNavigation-master

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??????????????8170052????????????????????13