【正文】 ear=0x0001。}nn++。*P_Watchdog_Clear=0x0001。}din=0。while(din==0){nn=0。while(nn6000){nn++。*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}for(i=0。i3。i++){if(((*P_ADC_MUX_Ctrl)amp。0x8000)==0x8000){shuju=(*P_ADC_MUX_Data)/64。*P_Watchdog_Clear=0x0001。}pin[i]=shuju。delay(2000)。}if((abs(pin[0]pin[1])1)amp。amp。(abs(pin[1]pin[2])1)){shuju=pin[2]。din=1。jiezou。}}if(shujubiaozhun+5)break。}number=0。while(number20){*P_IOB_Data|=0x0001。*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}number=0。while(1){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1700。if(((*P_IOA_Data)amp。0x0200)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1b00。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0x0400)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x2700。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0x0700)==0x0100){break。}*P_Watchdog_Clear=0x0001。}number=0。while(number20){*P_IOB_Data|=0x0001。*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}number=0。while(1){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x2b00。if(((*P_IOA_Data)amp。0x4000)==0)//left{*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x2700。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0x8000)==0x8000)//right{*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1b00。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0xa000)==0x8000)//zhong{*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x2b00。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0xe000)==0x8000)//zhong{break。}*P_Watchdog_Clear=0x0001。}while(1){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}}while(xuanze==1){while(1){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1700。if(((*P_IOA_Data)amp。0x0200)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1b00。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0x0400)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x2700。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0x0500)==0x0100){break。}*P_Watchdog_Clear=0x0001。}//nn=0。while(nn5000){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1700。nn++。*P_Watchdog_Clear=0x0001。}*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。delay(10000)。for(i=0。i3。i++){if(((*P_ADC_MUX_Ctrl)amp。0x8000)==0x8000){shuju=(*P_ADC_MUX_Data)/64。*P_Watchdog_Clear=0x0001。}}biaozhun=shuju。//while(1){nn=0。while(nn800){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1700。if(((*P_IOA_Data)amp。0x0200)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1b00。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0x0400)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x2700。*P_Watchdog_Clear=0x0001。}nn++。*P_Watchdog_Clear=0x0001。}din=0。while(din==0){nn=0。while(nn6000){nn++。*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}for(i=0。i3。i++){if(((*P_ADC_MUX_Ctrl)amp。0x8000)==0x8000){shuju=(*P_ADC_MUX_Data)/64。*P_Watchdog_Clear=0x0001。}pin[i]=shuju。delay(2000)。}if((abs(pin[0]pin[1])1)amp。amp。(abs(pin[1]pin[2])1)){shuju=pin[2]。din=1。}}if(shujubiaozhun+8)break。}number=0。while(number20){*P_IOB_Data|=0x0001。*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}delay(10000)。 //second banlancewhile(1){for(i=0。i3。i++){if(((*P_ADC_MUX_Ctrl)amp。0x8000)==0x8000){shuju=(*P_ADC_MUX_Data)/64。*P_Watchdog_Clear=0x0001。}pin[i]=shuju。delay(5000)。}if((pin[1]biaozhun+15)amp。amp。(pin[2]biaozhun+15))break。}*P_IOB_Dataamp。=0xfffe。while(1){nn=0。while(nn800){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1700。if(((*P_IOA_Data)amp。0x0200)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x1b00。*P_Watchdog_Clear=0x0001。}if(((*P_IOA_Data)amp。0x0400)==0){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_IOB_Data=(*P_IOB_Data)|0x2700。*P_Watchdog_Clear=0x0001。}nn++。*P_Watchdog_Clear=0x0001。}din=0。while(din==0){nn=0。while(nn6000){nn++。*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}for(i=0。i3。i++){if(((*P_ADC_MUX_Ctrl)amp。0x8000)==0x8000){shuju=(*P_ADC_MUX_Data)/64。*P_Watchdog_Clear=0x0001。}pin[i]=shuju。delay(2000)。}if((abs(pin[0]pin[1])1)amp。amp。(abs(pin[1]pin[2])1)){shuju=pin[2]。din=1。}}if(shujubiaozhun+5)break。}number=0。while(1){*P_IOB_Data|=0x0001。*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}while(1){*P_IOB_Data=(*P_IOB_Data)amp。0xc3ff。*P_Watchdog_Clear=0x0001。}}}//void IRQ5(){int shuju,i,out。int a[5]。*P_INT_Clear=0x0004。number++。shuju=number/2。xianshi(shuju)。return。