/*#include
sbit?z_q1=P1^0;
sbit?z_q2=P1^1;
sbit?z_h1=P1^2;
sbit?z_h2=P1^3;
sbit?y_q1=P1^4;
sbit?y_q2=P1^5;
sbit?y_h1=P1^6;
sbit?y_h2=P1^7;
void?main（）
{
	while（1）
	{
		z_q1=0;?????
		z_q2=1;
		
		z_h1=0;
		z_h2=1;
		
		y_q1=0;
		y_q2=1;
		
		y_h1=0;
		y_h2=1;
	}

}*/
#include
#define?uint?unsigned?int
void?delay（uint）;
//*****************************************************
sbit?out1=P2^0;?????//五路循跡傳感器第一三五
sbit?out2=P2^1;
sbit?out3=P2^2;
sbit?out4=P2^3;
sbit?out5=P2^4;

sbit?z_q1=P1^0;
sbit?z_q2=P1^1;
sbit?z_h1=P1^2;
sbit?z_h2=P1^3;
sbit?y_q1=P1^4;
sbit?y_q2=P1^5;
sbit?y_h1=P1^6;
sbit?y_h2=P1^7;

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

void?forward（void）?????????????//向前走
{
	z_q1=0;
	z_q2=1;
	
	z_h1=0;
	z_h2=1;
	
	y_q1=0;
	y_q2=1;
	
	y_h1=0;
	y_h2=1;
}

void?reverse（void）????????????//向后走
{
	z_q1=1;
	z_q2=0;
	
	z_h1=1;
	z_h2=0;
	
	y_q1=1;
	y_q2=0;
	
	y_h1=1;
	y_h2=0;
}

/*void?stop（void）????????????????//停止
{
	z_q1=0;
	z_q2=0;
	
	z_h1=0;
	z_h2=0;
	
	y_q1=0;
	y_q2=0;
	
	y_h1=0;
	y_h2=0;
}*/

void?Right_turn（void）?????//右轉，右側車輪靜止
{
	z_q1=0;
	z_q2=1;
	
	z_h1=0;
	z_h2=1;
	
	y_q1=0;
	y_q2=0;
	
	y_h1=0;
	y_h2=0;
}

void?Lift_turn（void）?????//左轉，左側車輪靜止
{
	z_q1=0;
	z_q2=0;
	
	z_h1=0;
	z_h2=0;
	
	y_q1=0;
	y_q2=1;
	
	y_h1=0;
	y_h2=1;
}

void?Lift_place（void）????//左轉，原地
{
	z_q1=1;
	z_q2=0;
	
	z_h1=1;
	z_h2=0;
	
	y_q1=0;
	y_q2=1;
	
	y_h1=0;
	y_h2=1;
}

void?Right_place（void）????//右轉，原地
{
	z_q1=0;
	z_q2=