RoboCup双足竞步交叉足冠军比赛程序

#include /* IO 关联 */

#include /* 中断关联 */

/*#include 中断 becta 关联 */

/* -----全局变数----- */

unsigned int phase = 0; /* 表示方面的变数 (PORTC 操作用途也使用，所以打工尺寸 )*/

unsigned int ServoPos[8] = {94, 91, 95, 95, 98, 98, 94, 94}; /* 表示伺服机制的位置的变数 */

unsigned int HomePos[8] = {94, 91, 95, 95, 98, 98, 94, 94}; /* 首页职位 */

// 32-0°

// 32-0°

// 32-0°

// 32-0°

/*-----mS 间等待的函数-----*/

void wait_ms(int msec)

{

} int count; /* 反复用途计数器变数 （for 句子用使用 )*/ TCCR2 |= (1

/*-----计时器计数器 0(8 bit) 比较匹配中断（伺服机制跳动宽度生成）-----*/

SIGNAL(SIG_OUTPUT_COMPARE0)

{

PORTC &= ~((1

TCCR0 &= ~(1

}

/*-----计时器计数器 1(16 bit) 比较匹配中断（伺服机制跳动周期2.5ms生成,8*2.5=20ms）-----*/

SIGNAL(SIG_OUTPUT_COMPARE1A)

{

PORTC |= (1

TCNT1 = 0x00; /* 计时器计数器1 置0 */

OCR0 = ServoPos[phase]; /* 比较记录器在位置组合 */

TCCR0 |= (1

if (phase > 7)

{

phase = 0; /* 方面超过 7 的话回来到方面 0*/

}

/*-----步行关系-----*/

/*(94-60)*16= 512us=0.512ms*/

/*(94-00)*16=1504us=1.504ms*/

/*(94+60)*16=2496us=2.496ms*/

/*62------> 90°*/

/* 1------>1.5°*/

/*15----->22.5°*/

/*20------> 30°*/

/*30------> 45°*/

void stepditou(void) //行走程序

{ unsigned char i;

for(i=30;i>0;i--)

{

ServoPos[2] = ServoPos[2] + 1;

ServoPos[5] = ServoPos[5] - 1;

wait_ms(10);

}

}

void steptaitou(void)

{ unsigned char i;

for(i=30;i>0;i--)

{

ServoPos[2] = ServoPos[2] - 1;

ServoPos[5] = ServoPos[5] + 1;

wait_ms(10);

}

}

void stepzuodun(void)

{

unsigned char i;

for(i=20;i>0;i--)

{

ServoPos[0] = ServoPos[0] - 1;

ServoPos[1] = ServoPos[1] - 2;

ServoPos[2] = ServoPos[2] + 1;

wait_ms(15); }

}

}

void stepzuoqi(void)

{

unsigned char i;

for(i=20;i>0;i--)

{ ServoPos[0] = ServoPos[0] + 1;

ServoPos[1] = ServoPos[1] + 2;

ServoPos[2] = ServoPos[2] - 1;

wait_ms(15);

}

}

void stepyoudun(void)

{

unsigned char i;

for(i=20;i>0;i--)

{

ServoPos[3] = ServoPos[3] + 1;

ServoPos[4] = ServoPos[4] + 2;

ServoPos[5] = ServoPos[5] - 1;

wait_ms(15);

}

}

void stepyouqi(void)

{

unsigned char i;

for(i=20;i>0;i--)

{

ServoPos[3] = ServoPos[3] - 1;

ServoPos[4] = ServoPos[4] - 2;

ServoPos[5] = ServoPos[5] + 1;

wait_ms(15);

}

}

void stepzuomai(void)

{

unsigned char i;

for(i=13;i>0;i--)

{

ServoPos[0] = ServoPos[0] + 1;

ServoPos[2] = ServoPos[2] + 1;

ServoPos[3] = ServoPos[3] + 1;

ServoPos[5] = ServoPos[5] + 1;

wait_ms(35);

}

}

void stepyoumai(void)

{

unsigned char i;

for(i=13;i>0;i--)

{

ServoPos[0] = ServoPos[0] - 1;

ServoPos[2] = ServoPos[2] - 1;

ServoPos[3] = ServoPos[3] - 1;

ServoPos[5] = ServoPos[5] - 1;

wait_ms(35);

}

}

void step4(void) // 前翻

{

unsigned char i;

for(i=58;i>0;i--)

{

ServoPos[2] = ServoPos[2] + 1;

ServoPos[5] = ServoPos[5] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[1] = ServoPos[1] + 1;

ServoPos[4] = ServoPos[4] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[2] = ServoPos[2] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[1] = ServoPos[1] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[1] = ServoPos[1] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[2] = ServoPos[2] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[5] = ServoPos[5] + 1;

wait_ms(10);

}

for(i=58;i>0;i--)

{

ServoPos[4] = ServoPos[4] + 1;

}

for(i=58;i>0;i--)

{

ServoPos[4] = ServoPos[4] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[5] = ServoPos[5] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[4] = ServoPos[4] - 1;

ServoPos[1] = ServoPos[1] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[2] = ServoPos[2] + 1;

ServoPos[5] = ServoPos[5] - 1;

wait_ms(15);

}

}

void step5(void) //后翻

{

unsigned char i;

for(i=58;i>0;i--)

{

ServoPos[2] = ServoPos[2] - 1;

ServoPos[5] = ServoPos[5] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[1] = ServoPos[1] - 1;

ServoPos[4] = ServoPos[4] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[5] = ServoPos[5] - 1;

}

for(i=58;i>0;i--)

{

ServoPos[4] = ServoPos[4] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[4] = ServoPos[4] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[5] = ServoPos[5] - 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[2] = ServoPos[2] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[1] = ServoPos[1] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[1] = ServoPos[1] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[2] = ServoPos[2] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

{

ServoPos[1] = ServoPos[1] - 1;

ServoPos[4] = ServoPos[4] + 1;

wait_ms(15);

}

for(i=58;i>0;i--)

}

{ ServoPos[2] = ServoPos[2] - 1; ServoPos[5] = ServoPos[5] + 1; wait_ms(15); }

/* -----将伺服机制去到首页职位----- */

void homeP(void)

{

ServoPos[0] = HomePos[0];

ServoPos[1] = HomePos[1];

ServoPos[2] = HomePos[2];

ServoPos[3] = HomePos[3];

ServoPos[4] = HomePos[4];

ServoPos[5] = HomePos[5];

ServoPos[6] = HomePos[6];

ServoPos[7] = HomePos[7];

}

int main(void)

{

unsigned char i=1;

/* PC 0 端子的设定 */

DDRC |= (1

PORTC &= ~((1

/* 计时器计数器 1 的设定 */

TIMSK |= (1

TCCR1A |= (1

/* 计时器计数器 0 的设定 */

TIMSK |= (1

SREG |= (1

TCCR1B |= (1

wait_ms(1000);

//stepditou();

stepzuodun();

stepzuomai();

stepzuoqi();

stepyoudun();

stepyoumai(); stepyouqi(); while(1) {

stepzuodun(); stepzuomai(); stepzuomai(); stepzuoqi(); stepyoudun(); stepyoumai(); stepyoumai(); stepyouqi(); //steptaitou(); }

wait_ms(500); i=3;

while(i--) {

step4(); }

homeP(); wait_ms(500); stepditou(); stepzuodun(); stepzuomai(); stepzuoqi(); stepyoudun(); stepyoumai(); stepyoumai(); stepyouqi(); stepzuodun(); stepzuomai(); stepzuomai(); stepzuoqi(); stepyoudun(); stepyoumai(); stepyouqi(); steptaitou(); wait_ms(500); i=3;

while(i--) { //前翻跟头//后翻跟头

}

homeP(); wait_ms(1000); stepditou(); stepzuodun(); stepzuomai(); stepzuoqi(); while(1)

{ stepyoudun(); stepyoumai(); stepyoumai(); stepyouqi(); stepzuodun(); stepzuomai(); stepzuomai(); stepzuoqi();

}

}