/****************************************Copyright?（c）****************************************************
**???????????????????????????????Guangzhou?ZHIYUAN?electronics?Co.LTD.
**?????????????????????????????????????
**?????????????????????????????????http://www.embedtools.com
**
**--------------File?Info---------------------------------------------------------------------------------
**?File?Name:???????????maze.c
**?Last?modified?Date:??2007/09/24
**?Last?Version:????????V1.0
**?Description:?????????根據底層程序取得的迷宮信息，經過該智能算法控制電腦鼠的下一狀態，并送往底層驅動程
**??????????????????????序執行。
**?
**--------------------------------------------------------------------------------------------------------
**?Created?By:??????????Liao?Maogang
**?Created?date:????????2007/09/08
**?Version:?????????????V1.0
**?Descriptions:?
**
**--------------------------------------------------------------------------------------------------------
**?Modified?by:
**?Modified?date:
**?Version:
**?Description:
**
*********************************************************************************************************/


/*********************************************************************************************************
??包含頭文件
*********************************************************************************************************/
#include?“Maze.h“


/*********************************************************************************************************
??全局變量定義
*********************************************************************************************************/
static?uint8????GucXStart???????????????????????????=?0;????????????????/*??起點橫坐標??????????????????*/
static?uint8????GucYStart???????????????????????????=?0;????????????????/*??起點縱坐標??????????????????*/

static?uint8????GucXGoal0???????????????????????????=?XDST0;????????????/*??終點X坐標，有兩個值?????????*/
static?uint8????GucXGoal1???????????????????????????=?XDST1;
static?uint8????GucYGoal0???????????????????????????=?YDST0;????????????/*??終點Y坐標，有兩個值?????????*/
static?uint8????GucYGoal1???????????????????????????=?YDST1;

static?uint8????GucMouseTask????????????????????????=?WAIT;?????????????/*??狀態機，初始狀態為等待??????*/

static?uint8????GucMapStep[MAZETYPE][MAZETYPE]??????=?{0xff};???????????/*??保存各坐標的等高值??????????*/

static?MAZECOOR?GmcStack[MAZETYPE?*?MAZETYPE]???????=?{0};??????????????/*??在mapStepEdit（）中作堆棧使用?*/
static?MAZECOOR?GmcCrossway[MAZETYPE?*?MAZETYPE]????=?{0};??????????????/*??Main（）中暫存未走過支路坐標??*/
/*********************************************************************************************************
**?Function?name:???????Delay
**?Descriptions:????????延時函數
**?input?parameters:????uiD?:延時參數，值越大，延時越久
**?output?parameters:???無
**?Returned?value:??????無
*********************************************************************************************************/
void?delay?（uint32?uiD）
{
????for?（;?uiD;?uiD--）;
}

/*****************************************

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????31956??2008-01-17?16:02??Maze雙向\Backup?of?Maze.ewd

?????文件??????44279??2008-07-31?09:49??Maze雙向\Backup?of?Maze.ewp

?????文件??????10628??2009-10-14?02:40??Maze雙向\Debug\Exe\Maze.bin

?????文件?????110364??2009-10-14?02:40??Maze雙向\Debug\Exe\Maze.out

?????文件??????10671??2009-10-14?02:49??Maze雙向\Debug\Exe\Maze.sim

?????文件??????10622??2009-10-13?16:20??Maze雙向\Debug\Exe\Maze.sim._1

?????文件??????17274??2009-10-14?02:40??Maze雙向\Debug\List\Maze.map

?????文件??????32916??2009-10-14?02:40??Maze雙向\Debug\Obj\maze.o

?????文件????????377??2009-10-14?02:39??Maze雙向\Debug\Obj\Maze.pbd

?????文件??????58776??2009-10-14?02:40??Maze雙向\Debug\Obj\Mouse_Drive.o

?????文件???????7492??2009-08-25?09:52??Maze雙向\Debug\Obj\startup_ewarm.o

?????文件??????14404??2009-08-25?09:52??Maze雙向\Debug\Obj\zlg7289.o

?????文件???????5625??2009-10-14?02:57??Maze雙向\Maze.dep

?????文件??????33533??2008-07-31?12:22??Maze雙向\Maze.ewd

?????文件??????41289??2008-07-31?12:24??Maze雙向\Maze.ewp

?????文件????????158??2008-01-17?15:33??Maze雙向\Maze.eww

?????文件???????2358??2009-10-14?02:40??Maze雙向\settings\Maze.cspy.bat

?????文件???????3304??2009-10-14?02:57??Maze雙向\settings\Maze.dbgdt

?????文件????????724??2009-10-14?02:57??Maze雙向\settings\Maze.dni

?????文件???????4137??2009-10-14?02:57??Maze雙向\settings\Maze.wsdt

?????文件??????38161??2009-10-14?02:39??Maze雙向\src\maze.c

?????文件???????4977??2008-02-15?08:46??Maze雙向\src\maze.h

?????文件???????3498??2007-12-14?10:18??Maze雙向\src\Micromouse.h

?????文件???????3759??2009-10-14?02:39??Maze雙向\src\Mouse_Config.h

?????文件??????49271??2009-10-13?15:37??Maze雙向\src\Mouse_Drive.c

?????文件???????9426??2008-01-26?09:16??Maze雙向\src\Mouse_Drive.h

?????文件???????7895??2008-07-31?11:22??Maze雙向\src\startup_ewarm.c

?????文件???????2686??2008-02-16?09:41??Maze雙向\src\Type.h

?????文件???????8179??2008-01-11?16:58??Maze雙向\src\zlg7289.c

?????文件???????5063??2008-01-11?15:57??Maze雙向\src\Zlg7289.h

............此處省略10個文件信息