楼上的真牛叉
wanghm@grandar.com *wanghm35@163.com */
include"asmf09lib.h"/*头文件定义，请勿删除*/
int mic_1=0;int gi_1=0;int gi_2=0;int gi_3=0;int gi_4=0;int gi_5=0;int gi_6=0;int gi_7=0;int gi_8=0;int gi_9=0;int gi_10=0;int gi_15=0;哪个房间有火的标记：**有4，三号有3，二号有2，一号有1*/
int gi_15_4=1023,gi_15_3=1023,gi_15_2=1023,gi_15_1=1023;每个房门的火焰值*/
int ma_1=0;int ma_2=0;int ma_3=0;int ma_4=0;int ma_5=0;int ma_6=0;int ma_7=0;int ma_8=0;int ma_9=0;int ma_10=0;int micc=0;int cutfire=0;float gf_1=0.0;int i=0;int aa14,aa13,aa12;void do(int channel,int state)
{ channel=channel;setdo(1,state);}
void leftway_b()/*沿左墙b*/
{
ma_4=ai(3);ma_5=ai(4);if((ma_4>gi_9)&(ma_5))
{
setmotor(0x1111,(int)(-100*gf_1),(int)(-100*gf_1),0,0);}
else
{
if((ma_4>gi_9)&(ma_5>ma_10))
{
if(ma_5>450)
{
setmotor(0x1111,(int)(-28*gf_1),(int)(28*gf_1),0,0);}
else
{
setmotor(0x1111,(int)(-80*gf_1),(int)(10*gf_1),0,0);}
}
else
{
setmotor(0x1111,(int)(-28*gf_1),(int)(-100*gf_1),0,0);}
}
wait(0.001000);}
void leftway_low()/*沿左墙:慢速*/
{
ma_1=ai(0);ma_2=ai(1);if((ma_1>gi_9)&(ma_2))
{
setmotor(0x1111,(int)(75*gf_1),(int)(75*gf_1),0,0);}
else
{
if((ma_1>gi_9)&(ma_2>ma_10))
{
if(ma_2>350)
{
setmotor(0x1111,(int)(-28*gf_1),(int)(28*gf_1),0,0);}
else
{
setmotor(0x1111,(int)(-30*gf_1),(int)(80*gf_1),0,0);}
}
else
{
setmotor(0x1111,(int)(100*gf_1),(int)(33*gf_1),0,0);}
}
wait(0.001000);}
void leftway()/*沿左墙*/
{
ma_1=ai(0);ma_2=ai(1);if((ma_1>gi_9)&(ma_2))
{
setmotor(0x1111,(int)(100*gf_1),(int)(100*gf_1),0,0);}
else
{
if((ma_1>gi_9)&(ma_2>ma_10))
{
if(ma_2>350)
{
setmotor(0x1111,(int)(-28*gf_1),(int)(28*gf_1),0,0);}
else
{
setmotor(0x1111,(int)(-20*gf_1),(int)(80*gf_1),0,0);}
}
else
{
setmotor(0x1111,(int)(100*gf_1),(int)(23*gf_1),0,0);}
}
wait(0.001000);}
void leftway_24()/*沿左墙:沿2号外墙准备去4号*/
{
ma_1=ai(0);ma_2=ai(1);if((ma_1>gi_9)&(ma_2))
{
if((ma_1>450)&(ma_1)){setmotor(0x1111,(int)(100*gf_1),(int)(90*gf_1),0,0);}
else if(ma_1>500){setmotor(0x1111,(int)(100*gf_1),(int)(100*gf_1),0,0);}
else{setmotor(0x1111,(int)(100*gf_1),(int)(60*gf_1),0,0);}
if((ma_1-ai(5))>20){setmotor(0x1111,(int)(60*gf_1),(int)(100*gf_1),0,0);}
else if((ma_1-ai(5))){setmotor(0x1111,(int)(100*gf_1),(int)(60*gf_1),0,0);}
else{setmotor(0x1111,(int)(100*gf_1),(int)(100*gf_1),0,0);}
}
else
{
if((ma_1>gi_9)&(ma_2>ma_10))
{
if(ma_2>350)
{
setmotor(0x1111,(int)(-28*gf_1),(int)(28*gf_1),0,0);}
else
{
setmotor(0x1111,(int)(-25*gf_1),(int)(80*gf_1),0,0);}
}
else
{
setmotor(0x1111,(int)(100*gf_1),(int)(33*gf_1),0,0);}
}
wait(0.001000);}
void leftway_4m()/*沿左墙_**进门前*/
{
ma_1=ai(0);ma_2=ai(1);if((ma_1>gi_9)&(ma_2))
{
setmotor(0x1111,(int)(100*gf_1),(int)(100*gf_1),0,0);}
else
{
if((ma_1>gi_9)&(ma_2>ma_10))
{
if(ma_2>350)
{
setmotor(0x1111,(int)(-28*gf_1),(int)(28*gf_1),0,0);}
else
{
setmotor(0x1111,(int)(-20*gf_1),(int)(80*gf_1),0,0);}
}
else
{
setmotor(0x1111,(int)(100*gf_1),(int)(33*gf_1),0,0);}
}
wait(0.001000);}
void rightway()/*沿右墙*/
{
ma_2=ai(1);ma_3=ai(2);if((ma_3>gi_9)&(ma_2))
{
setmotor(0x1111,(int)(100*gf_1),(int)(100*gf_1),0,0);}
else
{
if((ma_2>ma_10)&(ma_3>gi_9))
{
if(ma_2>330)
{
setmotor(0x1111,(int)(28*gf_1),(int)(-28*gf_1),0,0);