发布时间 : 星期六 文章创意之星之四足机器人 - 图文更新完毕开始阅读a0d88b59a65177232f60ddccda38376bae1fe075
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9、源程序如下：
#include \
int main(int argc, char * argv[]) {
int Diff = 0; int Left = 0; int Right = 0; MFInit();
MFSetPortDirect(0x00000FFF); MFADEnable(0); MFADEnable(1); MFDigiInit(100); DelayMS(100); MFADInit(100); MFSetServoMode(1,0); MFSetServoMode(2,0); MFSetServoMode(3,0); MFSetServoMode(4,0); MFSetServoMode(5,0); MFSetServoMode(6,0); MFSetServoMode(7,0); MFSetServoMode(8,0);
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MFSetServoMode(9,0); MFSetServoMode(10,0); //左侧
Left = MFGetAD(-1); //右侧
Right = MFGetAD(-1); Diff = Left - Right; //左侧的值大于右侧 if (!Diff>50) {
//左转 {
MFSetServoPos(1,512,512); MFSetServoPos(2,512,512); MFSetServoPos(3,512,512); MFSetServoPos(4,512,512); MFSetServoPos(5,512,512); MFSetServoPos(6,512,512); MFSetServoPos(7,512,512); MFSetServoPos(8,512,512); MFSetServoPos(9,405,512); MFSetServoPos(10,512,512); MFServoAction(); } }
//左侧的值小于右侧 if (Diff<-50) {
//右转
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{
MFSetServoPos(1,512,512); MFSetServoPos(2,512,512); MFSetServoPos(3,512,512); MFSetServoPos(4,512,512); MFSetServoPos(5,512,512); MFSetServoPos(6,512,512); MFSetServoPos(7,512,512); MFSetServoPos(8,512,512); MFSetServoPos(9,654,512); MFSetServoPos(10,512,512); MFServoAction(); } }
//左右两侧的值近似相等
if (!((Diff>=-50)&&(Diff<=50))) { {
MFSetServoPos(1,512,512); MFSetServoPos(2,512,512); MFSetServoPos(3,512,512); MFSetServoPos(4,512,512); MFSetServoPos(5,512,512); MFSetServoPos(6,512,512); MFSetServoPos(7,512,512); MFSetServoPos(8,512,512); MFSetServoPos(9,512,512); MFSetServoPos(10,512,512); MFServoAction();
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