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yangn0/SSE_improve

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Shi Yan Qi Cai :
MiniSTM32F103Kai Fa Ban V3Ban Ben

Shi Yan Mu De :
Xue Xi Ding Shi Qi De PWMGong Neng

Ying Jian Zi Yuan :
1,DS0(Lian Jie Zai PA8)
2,Ding Shi Qi 1(TIM1),Shi Yong TIM1De Tong Dao 1(CH1),Kai Qi Bu Fen Zhong Ying She ,Jiang TIM1_CH1Shu Chu Dao PA8.
Cong Er Shi Xian PWMShu Chu Kong Zhi DS0Liang Du .

Shi Yan Xian Xiang :
Ben Shi Yan ,DS0You An Dao Liang ,Zai You Liang Dao An ,Zai You An Dao Liang ,Yi Ci Xun Huan .

Zhu Yi Shi Xiang :
Wu .


Zheng Dian Yuan Zi @ALIENTEK
2014-3-06
Yan Zhou Shi Xing Yi Dian Zi Ke Ji You Xian Gong Si
Dian Hua :020-38271790
Chuan Zhen :020-36773971
Gou Mai :http://shop62103354.taobao.com
http://shop62057469.taobao.com
Gong Si Wang Zhan :www.alientek.com
Ji Zhu Lun Tan :www.openedv.com


void bianyuanshibie()
{
//int b;
if(ltsbflag==0)
{



if(hui3==1&&hui4==1&&hui1==1&&hui2==1&&mm1==1&&mm2==1) stop();
//else ahead(300);
else if(((temp1>1700&&temp7>1700)||(temp4>1700&&temp6>1700)||(temp1>1700&&(temp4>1700||temp6>1700))||(temp7>1700&&(temp4>1700||temp6>1700))||(temp3>1700&&temp4>1700&&temp9>1700)||(temp5>1700&&temp6>1700&&temp8>1700))&&ot<3)
{

//ltsbflag=1;
ot++;

}
//else if(backflag==1&&temp1>1600)
//{
//if(temp1<1600) backflag=0;
//else stop();
//}

else
{

if(mm1==1||mm2==1||hui1==1||hui2==1)




{


if( temp1>1600 ) // two sensor front find enemy 2
{




if ((hui1==1||hui2==1))
{
if(temp7>1600) {left(800);x0++;}
else
{
//back(600,600);
//if(hui1==0&&hui2==0)
back(500,500);

f++;
}

}

else
{
if(backflag==0)
{
allahead(500);
allaheadflag=1;
}
}


}
else if(temp7>1600)
{
left(800);
x5++;
}
else if( temp3>1600||temp4>1600||mm3==0||temp9>1600) //one sensor right and right back find enemy and right back 2 temp3>1500 || temp4>1500 ||
{

if(temp3>1600) right(600);
else if(temp9>1600) right(800);
else right(700);


}
else if( temp6>1600||temp5>1600||mm4==0||temp8>1600 ) //onr sensor left and left back find enemy 2 temp5>1500 ||temp6>1500 ||
{

if(temp5>1600) left(600);
else if(temp8>1600) left(800);
else left(700);
//x1++;

}
//else if(temp7>1700) {left(720);x5++;}


else if(hui3==1&&hui4==1)
{
if(mm1==1||mm2==1||hui1==1||hui2==1)
{

diaotou(500);x2++;

}
else
{
ahead(450);
//ltsbflag=0;
}
}
else
{
if((hui1==1||hui2==1)&&(mm1==1||mm2==1)) {back(500,500);f++;}
else
diaotou(500);
x3++;
}





}


else if( temp1>1600 ) // two sensor front find enemy 2
{


if(temp7>1600) {diaotou(500);x4++;}
else
{
if(backflag==0)
{
allahead(600);
allaheadflag=1;
}
}


}
else if(temp7>1600) {left(900);x7++;}


else if( temp3>1600||temp4>1600||mm3==0||temp9>1600) //one sensor right and right back find enemy and right back 2 temp3>1500 || temp4>1500 ||
{
if(temp3>1600) right(600);
else if(temp9>1600) right(800);
else right(700);

}
else if( temp6>1600||temp5>1600||mm4==0||temp8>1600 ) //onr sensor left and left back find enemy 2 temp5>1500 ||temp6>1500 ||
{

if(temp5>1600) left(600);
else if(temp8>1600) left(800);
else left(700);
x6++;
}

//else if(temp7>2000) {left(720);x7++;}
else ahead(450);

}

}

duojiz(900);
duojiy(900);

//if(j>0&&f>0)
//{
// backflag=1;
// }
// else backflag=0;
if(allaheadflag==1)
{
j+=4;
if(j>300) j=300;
}
else j=0;

if(ot>2) {ltsbflag=1;}

}

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stm32f1 Xin Che Cheng Xu

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