#include
#include
?
?
#define??Threshold???100???????????//黑色與白色之間的閾值
?
?
#define?LeftQti????P1_2???????????????????//接在P1_2?
#define?LeftCenterQti??????P1_3????????//接在P1_3?
#define?RightCenterQti?????P1_4????????//接在P1_4?
#define?RightQti????P1_5??????????????????//接在P1_5?
typedef?unsigned?char?uint8_t;
?
//?判斷黑線與白線之間的標志
?
//?值賦予1-表示黑線
?
//?值賦予0-表示白線
?
uint8_t?sDigi0?=?0;?
uint8_t?sDigi1?=?0;?
uint8_t?sDigi2?=?0;?
uint8_t?sDigi3?=?0;?
?
/*******************************************************************?
函數名：
?long?RCtime（uint8_t?sensPin）?
功能：檢測出灰度值
?
輸入參數：sensPin-接QTI的管腳號
?
輸出參數：result?-灰度值
?
********************************************************************/?
long?RCtime（uint8_t?sensPin）?
{?
	long?result?=?0;?
????DDRB?|=?_BV（sensPin）;?
????PORTB|=?_BV（sensPin）;?
	delay_nms（1）;???????????????????//充電1ms?
?	DDRB?&=~_BV（sensPin）;?
????PORTB&=~_BV（sensPin）;?
????while（（PINB&_BV（sensPin）））?result++;?
????return?result;?
?}?
?
/*******************************************************************?
函數名：
int?main（）?
功能：主函數
輸入參數：無
?
輸出參數：
NULL?
********************************************************************/?
int?main（）?
{?
	uart_Init（）;???????????????????????????//串口頭文件
	SET_DDRC3;??????????????????????????//設置PC3為輸出口
	SET_DDRC2;??????????????????????????//設置PC2為輸出口
?
	while（1）?
	{?
//?打印出QTI傳感器的灰度值
		printf（“LeftQti:%d?“RCtime（LeftQti））;?
		printf（“LeftCenterQti:%d?“RCtime（LeftCenterQti））;?
		printf（“RightCenterQti:%d?“RCtime（RightCenterQti）?）;?
		printf（“RightQti:%d\n“RCtime（RightQti））;?
//---------------------?判讀黑線與白線的閾值-----------------------------?
	if（RCtime（LeftQti）?>?Threshold）?????????
		sDigi0?=?1;?????????????????????//黑線
?
	else???????????????????????????????????
		sDigi0?=?0;?????????????????????//白線
?
	if（RCtime（LeftCenterQti）?>?Threshold）???
		sDigi1?=?1;?????????????????????//黑線
?
???	else??????????????????????????????????
??		sDigi1?=?0;?????????????????????//紫?
?
???	if（RCtime（RightCenterQti）?>?Threshold）??
		sDigi2?=?1;?????????????????????//黑線
?
	else????????????????????????????????????
		sDigi2?=?0;?????????????????????//白線
?
??	?if（RCtime（RightQti）?>?Threshold）????????
		sDigi3?=?1;?????????????????????//黑線
?
???	else???????????????????????????????????
		sDigi3?=?0;?????????????????????//白線
	}
}

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

?????文件????????547??2010-12-07?11:14??尋跡測試\Boebot.h

?????文件???????1196??2010-12-07?11:14??尋跡測試\IR.h

?????文件???????3543??2010-12-07?11:14??尋跡測試\LCD.h

?????文件???????1057??2010-12-07?11:14??尋跡測試\Move.h

?????文件???????4582??2018-05-25?11:22??尋跡測試\test.plg

?????文件??????????0??2018-05-25?10:11??尋跡測試\test.uv2

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?????文件???????5108??2018-05-25?11:22??尋跡測試\Text1.LST

?????文件???????3019??2010-12-07?11:14??尋跡測試\uart.h

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?????文件??????14489??2018-05-26?16:12??尋跡測試\xunji

?????文件???????2284??2018-05-26?16:12??尋跡測試\xunji.c

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?????文件?????????42??2018-05-26?16:12??尋跡測試\xunji.lnp

?????文件???????6009??2018-05-26?16:12??尋跡測試\xunji.LST

?????文件??????19194??2018-05-26?16:12??尋跡測試\xunji.M51

?????文件??????15857??2018-05-26?16:12??尋跡測試\xunji.OBJ

?????文件???????1108??2018-05-30?17:02??尋跡測試\xunji.Opt

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?????目錄??????????0??2018-06-18?16:15??尋跡測試

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????????????????89782????????????????????21