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东北大学程序 #include hidef.h /* common defines and macros */ #include mc9s12db128.h /* derivative information */ #include MATH.H #pragma LINK_INFO DERIVATIVE mc9s12db128b #include main_asm.h /* interface to the assembly module */ #define SG 30 //直道速度上限 #define POWER_ADJUST 900 #define BrakeDen 10 //减速加速度预测 #define SpeedLose 3 //速度恢复 #define DEBUG_EN #define ABNORMAL_SAMPLE #define SpeedCtl_I_init 500 #define ROUND 3 #define BLACKMAX 15 #define WHITEMAX 200 #define FRAME_LEFT 1 #define FRAME_RIGHT 46 #define FRAME_TOP 38 #define FRAME_BOTTOM 1 #define VL1 30 #define VL2 72 #define BLACK_ADJUST 47 #define DC12V_STEADY 1 #define ODD_INTERRUPT 2 #define EVEN_INTERRUPT 3 #define ROW_INTERRUPT 4 #define FEILD_START 5 #define ROW_START 6 #define ATD_INTERRUPT 7 #define ROW_FINISH 8 #define FRAME_FINISH 9 #define DC12GIVEN 145 #define PWM23MAX 1150 #define Drow 0 #define STEER_MID 791 #define STEER_MAX 88 #define STEER_MIN -88 #define ROAD_UNKNOWN 0 //U #define ROAD_WELL 1 //W #define ROAD_LEFT 2 //L #define ROAD_RIGHT 3 //R #define ROAD_OUT 4 //O #define ROAD_CROSS 5 //C #define STARTING_LINE 6 //S #define DOTTED_LINE 7 //D #define ROAD_POLLUTED 8 //P #define ROAD_BREAK 9 //B #define STRIGHT 1 #define LEFT_TURN 2 #define RIGHT_TURN 3 #define SPEED_LIMIT 4 #define SPRINT 5 #define INCOMPLETE 1 #define COMPLETED 2 #define OVERFLOW 3 #define STRIGHT_FLAG 1 #define LEFT_TURN_FLAG 2 #define RIGHT_TURN_FLAG 3 #define STARTINGLINE_FLAG 4 #define UPHILL_FLAG 8 #define