tensorlayer3/国际青年人工智能大赛/新建文本文档 (2).txt

  #include <Servo.h>
  #include"LedControl.h"
  LedControl lc=LedControl(12,11,13,1);
  double _ABVAR_1_i = 0 ;
  Servo servo_pin_4;
  const int s0 = A3; 
  const int s1 = A4; 
  const int s2 = A1; 
  const int s3 = A5; 
  const int out = 8; 
  const int led = 7;
  int red = 0; 
  int green = 0; 
  int blue = 0; 
  int _ABVAR_2_a = 0;
  int _ABVAR_3_b = 0;
  
  void trunright();
  void trunleft();
  void stop();
  void duo_ji();
  void forwoard_drop();
  void forwoard_rise();
  void back();
  void forwoard();
  void color();
  void pan_duan_yan_se();
  void led_left();
  void led_right();
  void led_forword();

  void setup()
  {
    pinMode(16 , INPUT);
    pinMode(14, INPUT);
    pinMode( 9 , OUTPUT);
    pinMode( 10 , OUTPUT);
    pinMode( 5 , OUTPUT);
    pinMode( 6 , OUTPUT);
    servo_pin_4.attach(4);
    _ABVAR_1_i = 0 ;
    pinMode(s0, OUTPUT); 
    pinMode(s1, OUTPUT); 
    pinMode(s2, OUTPUT); 
    pinMode(s3, OUTPUT); 
    pinMode(out, INPUT); 
    pinMode(led, OUTPUT);
    digitalWrite(s0, HIGH); 
    digitalWrite(s1, HIGH); 
    lc.shutdown(0,false);
    lc.setIntensity(0,8);
    lc.clearDisplay(0);
    lc.setRow(0,0,0xff);
    lc.setRow(0,1,0xff);
     lc.setRow(0,2,0xff);
     lc.setRow(0,3,0xff);
     lc.setRow(0,4,0xff);
     lc.setRow(0,5,0xff);
     lc.setRow(0,6,0xff);
     lc.setRow(0,7,0xff);
  }

void loop()
{ 
  if (( digitalRead(14) && digitalRead(16) ))
  {
    forwoard();
  }
  else
  {
    if (( !( digitalRead(14) ) && digitalRead(16) ))
    {
      
     
      trunright();
      
    }
    else
    {
      if (( digitalRead(14) && !( digitalRead(16) ) ))
      {
 
        trunleft();
      }
      else
      {
        if (( !( digitalRead(14) ) && !( digitalRead(16) ) ))
        {
                _ABVAR_1_i = ( _ABVAR_1_i + 1 ) ;
                if (( ( _ABVAR_1_i ) == ( 1 ) ))
                {
                  forwoard_rise();
                  delay( 3000 );
                  forwoard();
                  delay( 1700 );
                }      
                else
                {
                  if (( ( _ABVAR_1_i ) == ( 2 ) ))
                  {
                    forwoard_rise();
                    delay(3000);
                    forwoard();
                    delay( 500 );
                  }
                    if (( ( _ABVAR_1_i ) == ( 3 ) ))
                    {
                      stop();
                      digitalWrite(led, HIGH);
                      delay(500);
                      color();
                      digitalWrite(led, LOW);
                      if (red < blue && red < green)
                      { 
                        _ABVAR_2_a = 1;
                //LcdDisplay(" - (Red Color)");
                      } 
                      else if (blue < red && blue < green) 
                      { 
                        _ABVAR_2_a = 2; 
                //      LcdDisplay(" - (Blue Color)");
                      } 
                      else if (green < red && green < blue) 
                      { 
                        _ABVAR_2_a = 3; 
                //      LcdDisplay(" - (Green Color)");
                      }
                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
                      {
                        pan_duan_yan_se();
                      }
                      duo_ji();
                     }
                  }
                }
              }
            }
          }
        }

void trunright()
{
  led_right();
  analogWrite(9 , 200);
  analogWrite(10 , 0);
  analogWrite(5 , 0);
  analogWrite(6 , 200);
}

void stop()
{
  digitalWrite( 9 , LOW );
  digitalWrite( 10 , LOW );
  digitalWrite( 5 , LOW );
  digitalWrite( 6 , LOW );
}

void forwoard_drop()
{
  analogWrite(9 , 100);
  analogWrite(10 , 0);
  analogWrite(5 , 100);
  analogWrite(6 , 0);
  led_forword();
}

void duo_ji()
{
  servo_pin_4.write( 90  );
  delay( 300 );
  servo_pin_4.write(360 );
  delay( 600 );
  servo_pin_4.write( 0  );
  delay( 300 );
}

void trunleft()
{
  analogWrite(9 , 0);
  analogWrite(10 , 200);
  analogWrite(5 , 200);
  analogWrite(6 , 0);
  led_left();
}

void forwoard()
{
  analogWrite(9 , 200);
  analogWrite(10 , 0);
  analogWrite(5 , 200);
  analogWrite(6 , 0);
  led_forword();
}

void back()
{
  analogWrite(9 , 0);
  analogWrite(10 , 120);
  analogWrite(5 , 0);
  analogWrite(6 , 120);
}

void forwoard_rise()
{
  analogWrite(9 , 255);
  analogWrite(10 , 0);
  analogWrite(5 , 255);
  analogWrite(6 , 0);
  led_forword();
}

void forwoard_rise1()
{
  analogWrite(9 , 210);
  analogWrite(10 , 0);
  analogWrite(5 , 255);
  analogWrite(6 , 0);
  led_forword();
}

void color() 
{ 
 digitalWrite(s2, LOW); 
 digitalWrite(s3, LOW); 
 //count OUT, pRed, RED 
 red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
 digitalWrite(s3, HIGH); 
 //count OUT, pBLUE, BLUE 
 blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
 digitalWrite(s2, HIGH); 
 //count OUT, pGreen, GREEN 
 green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
}
void pan_duan_yan_se()
{
  forwoard();
  delay(600);
  stop();
  digitalWrite(led, HIGH);
  delay(500);
  color();
  digitalWrite(led, LOW);
  if (red < blue && red < green)
  { 
    _ABVAR_3_b = 1;
//        LcdDisplay(" - (Red Color)");
  } 
 
  else if (blue < red && blue < green) 
  { 
    _ABVAR_3_b = 2; 
//        LcdDisplay(" - (Blue Color)");
  } 
 
  else if (green < red && green < blue) 
  { 
    _ABVAR_3_b = 3; 
//        LcdDisplay(" - (Green Color)");
  }                       
}
void led_right()
{

          lc.setRow(0,0,0x00);
    lc.setRow(0,1,0x08);
     lc.setRow(0,2,0x04);
     lc.setRow(0,3,0x02);
     lc.setRow(0,4,0x8f);
     lc.setRow(0,5,0x02);
     lc.setRow(0,6,0x04);
     lc.setRow(0,7,0x08);

}
void led_left()
{

       
     lc.setRow(0,0,0x00);
     lc.setRow(0,1,0x10);
     lc.setRow(0,2,0x20);
     lc.setRow(0,3,0x40);
     lc.setRow(0,4,0xfe);
     lc.setRow(0,5,0x40);
     lc.setRow(0,6,0x20);
     lc.setRow(0,7,0x10);
}
void led_forword()
{
       
     lc.setRow(0,0,0x08);
     lc.setRow(0,1,0x1c);
     lc.setRow(0,2,0x2a);
     lc.setRow(0,3,0x49);
     lc.setRow(0,4,0x08);
     lc.setRow(0,5,0x08);
     lc.setRow(0,6,0x08);
     lc.setRow(0,7,0x08);

}