5先锋体操一队.doc

2010年中国机器人大赛双足竞步机器人自由体操比赛大学组主要程序代码比赛项目：双足竞步机器人自由体操比赛大学组参赛队伍：徐州空军学院先锋体操一队指导老师：李汉军、何国良、李腾领队：戴革林队员：胡学桐、马维强、尹南、高翔、张猛、田川先锋体操一队双足竞步机器人（自由体操）主要程序代码#include #include #include unsigned int dataa,datab;signed int a24,b24,c24,d24;unsigned char flag=0,sudu=0;unsigned int i=0;/*void fuwei(void);void fuweir(void);void qianfan(void); void houfan(void); void zou3(void); void zou(void); /*/端口初始化void port_init(void) DDRA = 0xFF; DDRB = 0xFF; DDRC = 0xFF; DDRD = 0x00;/延时函数delay（） void delay(unsigned int time) unsigned int m,k; for(m=0;mtime;m+) for(k=0;k45000;k+); /精确延时函数delaygh（）void delaygh(void) unsigned char gh=0; while(gh250) gh+;/调试软件中编辑生成的函数zx （）void zx(unsigned int datazx) datab=datazx%1024;dataa=(datazx-datab)/1024; /zhi xing 0 if (dataa24) bdataa=datab; else if (dataa24) adataa-24=datab; bdataa-24=datab; else if (dataa=49) moveto(datab); else if (dataa=50) delay(datab); /运动主函数main（）void main(void) /*/-初始化 CLI(); /disable all interruptsport_init();/timer1_init();MCUCR = 0x00;GICR = 0x00;TIMSK = 0x04; /timer interrupt sourcesSEI(); /re-enable interrupts/*sudu=3;fuwei();fuweir();fuweir();/要调用的函数 delay(30);qishi();delay(30);qianfan();delay(30);houfan();delay(30);zuofan();delay(30);youfan();delay(30);daolifuwoc();delay(30);ziyou();delay(30);jiesu();delay(30);/运动函数执行完毕while(1);/复位函数void fuwei(void) unsigned char k; a0=195;a1=250;a2=343;a3=62;a4=255;a5=347;a6=245;a7=175;a8=420;a9=251;a10=250;a11=250;a12=250;a13=250;a14=250;a15=250;a16=250;a17=250;a18=250;a19=250;a20=250;a21=250;a22=250;a23=250;for(k=0;k24;k+)bk=ak; /控制舵机运行到复位值的函数fuweir（）void fuweir(void) zx(195);zx(1274);zx(2391);zx(3134);zx(4351);zx(5467);zx(6389);zx(7343);zx(8612);zx(9467);zx(50226);/具体动作代码/起始动作，鞠躬和挥手void qishi(void) zx(1324);zx(6339);zx(50226);zx(1274);zx(3134);zx(6389);zx(50226);zx(51203);zx(8282);zx(50193);zx(8612);zx(50193);/结束动作，鞠躬致敬void jiesu(void) zx(1324);zx(6339);zx(50226);zx(51203);zx(1274);zx(3134);zx(6389);zx(50226);zx(51203);/前滚翻void qianfan(void) zx(1444);zx(6234);zx(50226);zx(4426);zx(9392);zx(50226);zx(4506);zx(9312);zx(50226);zx(1099);zx(6579);zx(50226);zx(3304);zx(4416);zx(8467);zx(9422);zx(50226);zx(3349);zx(8397);zx(50226);zx(1184);zx(3424);zx(4491);zx(6494);zx(8322);zx(9347);zx(50226);zx(195);zx(1274);zx(2391);zx(3134);zx(4351);zx(5467);zx(6389);zx(7343);zx(8612);zx(9467);zx(50226);/后滚翻void houfan(void) zx(1114);zx(6549);zx(50226);zx(4186);zx(9612);zx(50226);zx(1454);zx(6224);zx(50226);zx(3364);zx(4281);zx(8412);zx(9527);zx(50226);zx(1419);zx(3389);zx(4226);zx(6259);zx(8377);zx(9567);zx(50226);zx(195);zx(1274);zx(2391);zx(3134);zx(4351);zx(5467);zx(6389);zx(7343);zx(8612);zx(9467);zx(50226);/左侧手翻360度void zuofan(void) zx(140);zx(5442);zx(50193);zx(5357);zx(50193);zx(195);zx(3474);zx(5467);zx(7448);zx(8557);zx(9467);zx(50193);zx(8327);zx(50193);zx(195);zx(1274);zx(2391);zx(3474);zx(4344);zx(5467);zx(6389);zx(7343);zx(8287);zx(9467);zx(50193);zx(1274);zx(2211);zx(50193);zx(3504);zx(50193);zx(3399);zx(50193);zx(2391);zx(3134);zx(8612);zx(50193);/右侧手翻360度void youfan(void) zx(215);zx(5512);zx(50193);zx(305);zx(50193);zx(195);zx(1274);zx(2286);zx(3199);zx(5467);zx(8377);zx(50193);zx(3389);zx(8287);zx(50193);zx(195);zx(1274);zx(2391);zx(3469);zx(4344);zx(5467);zx(6389);zx(7343);zx(8287);zx(9467);zx(50193);zx(7523);zx(8252);zx(50193);zx(8372);zx(50193);zx(3134);zx(7343);zx(8612);zx(50193);/倒立、倒立劈叉和俯卧撑void daolifuwoc(void) zx(140);zx(5442);zx(50193);zx(5357);zx(50193);zx(195);zx(3474);zx(5467);zx(7448);zx(8557);zx(9467);zx(50193);zx(8327);zx(50193);zx(195);zx(1274);zx(2391);zx(3474);zx(4344);zx(5467);zx(6389);zx(7343);zx(8287);zx(9467);zx(50193);zx(51230);zx(2216);zx(7518);zx(50193);zx(51230);zx(3359);zx(4351);zx(8382);zx(9467);zx(50193);zx(4221);zx(9597);zx(50226);zx(2391);zx(7343);zx(4181);zx(9614);zx(50224);zx(3334);zx(4201);zx(8427);zx(9600);zx(50221);zx(3369);zx(4180);zx(8392);zx(9615);zx(50219);zx(3334);zx(4201);zx(8427);zx(9600);zx(50221);zx(3369);zx(4180);zx(8392);zx(9615);zx(50219);zx(51230);zx(4180);zx(50216);zx(8442);zx(9595);zx(50214);zx(8377);zx(9615);zx(50213);zx(8442);zx(9595);zx(50214);zx(8377);zx(9615);zx(50213);zx(51230);zx(3374);zx(50212);zx(2391);zx(7493);zx(50210);zx(8537);zx(50209);zx(3324);zx(4205);zx(50208);zx(3394);zx(4180);zx(50207);zx(3324);zx(4205);zx(50208);zx(3394);zx(4180);zx(50207);zx(3374);zx(7343);zx(8387);zx(2391);zx(3469);zx(6279);zx(8302);zx(50205);zx(195);zx(1274);zx(2391);zx(3134);zx(4351);zx(5467);zx(6389);zx(7343);zx(8612);zx(9467);zx(50226);/自编动作void ziyou(void) zx(215);zx(5517);zx(50201);zx(235);zx(5467);zx(50198);zx(3299);zx(8447);zx(50201);zx(205);zx(2266);zx(3479);zx(4351);zx(50198);zx(195);zx(2276);zx(3479);zx(7353);zx(8452);zx(50196);zx(195);zx(2276);zx(3299);zx(7513);zx(8292);zx(50198);zx(195);zx(2221);zx(3379);zx(50196);zx(5467);zx(7518);zx(3289