智能小车过程控制程序.doc

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1、智能小车控制程序XDEFEntryABSENTRYEntryINCLUDE'PWM.inc'INCLUDE'ECT.inc'INCLUDE'PORT.inc'INCLUDE'ATD.inc'ROMStartEQU$4000INTCREQU$001EF_FINISHEQU$2000TCNTEQU$0044C_LINEEQU$2002C_POINTEQU$2003P_SAVEEQU$2004P_LINEEQU$2006P_LINE2EQU$2008P_ROWEQU$200AP_POSITIONEQU$

2、200CP_YOUEQU$200EP_YOU1EQU$2010P_COMPARE0EQU$2012COUNT10EQU$2014TEMEQU$2016P_LINE1EQU$2018LEFT_SEQU$201ARIGHT_SEQU$201BADD_NUM0EQU$201CADD_SUM0EQU$201ECOUNT_LEQU$2020AVERAGEEQU$2021TEM0EQU$2023ERROREQU$2025TCNT0EQU$2027TCNT1EQU$2029COMPARE0EQU$202BCOM

3、PAREEQU$202CRIGHT1EQU$202DLEFT1EQU$202EMEQU$202FM0EQU$2030LINE_CHAEQU$2031POINT_CHAEQU$2032SUDU01EQU$2034SUDU02EQU$2035SUDU03EQU$2036LIANXU_ERROREQU$2037MINEQU$2038MAXEQU$2039E_HIGHEQU$203AP_POINTLEQU$203CP_POINTREQU$203DADD_SUMEQU$203EADD_NUMEQU$2040

4、C_MINEQU$2042C_MAXEQU$2043TEM10EQU$2044FIRSTEQU$2046LASTEQU$2047FIRST_LINEEQU$2048LAST_LINEEQU$2049RESULT0EQU$204ARESULT1EQU$204CRESULT2EQU$204ERESULT3EQU$2050RESULT4EQU$2052RESULT5EQU$2054DDEQU$2056DD1EQU$2057LINE_LINE_MAXEQU$2058LIANXUEQU$2059GAOSUE

5、QU$205ADDDEQU$205BRESULT6EQU$205DRESULT7EQU$205FSTIME_COUNTEQU$2061STIME_COUNT0EQU$2063FLOWEQU$2065FIRST0EQU$2066PERIOD1EQU$2068PERIOD2EQU$206APERIODEQU$206CZHUANJIAOEQU$206ESUDUEQU$2070ZHI_XIANEQU$2072WAN_XIANEQU$2074ORG$2080CRRNT_INSRMB2FUZ_INSRMB$0

6、AFUZ_OUTSRMB7COG_OUTRMB1CRRNT_INS1RMB2FUZ_INS1RMB$0AFUZ_OUTS1RMB7COG_OUT1RMB1ORG$B600INPUT_MFSEQU*FCB$0001,$001A,$00ff,$000EFCB$000E,$002B,$000E,$000EFCB$001F,$003C,$000E,$000EFCB$0030,$004D,$000E,$000EFCB$0041,$005C,$000E,$00ffFCB$0001,$0032,$00ff,$0

7、006FCB$0019,$0055,$0006,$0006FCB$003C,$0078,$0006,$0006FCB$005F,$009B,$0006,$0006FCB$0082,$00b4,$0006,$00ffSGLTN_POSEQU*FCB60,90,120,130,140,165,210INPUT_MFS1FCB$0001,$0032,$00ff,$0006FCB$0019,$0055,$0006,$0006FCB$003C,$0078,$0006,$0006FCB$005F,$009B,

8、$0006,$0006FCB$0082,$00b4,$0006,$00ffFCB$0001,$0008,$00ff,$003fFCB$0004,$000e,$003f,$003fFCB$000a,$0014,$003f,$003fFCB$0010,$001a,$003f,$003fFCB$0016,$001F,$003f,$00ffSGLTN_POS1EQU*FCB01,40,70,90,110,140,178RULEEQU*FDBFUZ_INS+$0003,FUZ_INS+$00