#include "headfile.h"
#define PWM_1 PWMA_CH4P_P66
#define PWM_2 PWMA_CH2P_P62
#define PWM_3 PWMA_CH3P_P64
#define PWM_4 PWMA_CH1P_P60
#define DIR_1 P64
#define DIR_2 P60
#define SPEEDL_PLUSE CTIM0_P34
#define SPEEDR_PLUSE CTIM3_P04
#define SPEEDL_DIR P35
#define SPEEDR_DIR P53
#define BEEP P77
//定义按键引脚
#define KEY1_PIN P70
#define KEY2_PIN P72
#define KEY3_PIN P71
#define KEY4_PIN P73
//定义拨码开关引脚
#define SW1_PIN P75
#define SW2_PIN P76
int sanjibuflag=0,qinphuan=0,inphuan=0,qinP=0,P_ru=0;
float s_ruku_on=0,s_pluse_ruku=0,daojian=0,rukut=1,movestop=0,luoma=0;
int shangpo=0,qshangpo=0,shangpozhi=0,sanchaon=0,pogo=0,sanchapingdao=0,ox=0,oU=0,ruku=0,qsanchaon=0,sanchaonzhi=0,rukup=1,jiwan=0,inP=0,s_P_on=0,s_pluse_P=0;
float s_pluse_sancha=0,hpp=1,s_way1=0,s_way2=0,s_way3=0,s_way=0;
int s_sancha_on=0,flag_dao_in=0;
int maxpwm=3000,pxom=0;
int opp=0;
float MIN01=0;
int daop=0;
int tdao=0;
int ea_left=0,eb_left=0,ec_left=0;
int ea_right=0,eb_right=0,ec_right=0;
float speedL_P=3,speedL_I=2,speedL_D=1; /////////////////////////////////////////////////////
float speedR_P=3,speedR_I=2,speedR_D=1;
int pwm_L=0,pwm_R=0;
int abc=0;
int Left[10],Left_M[10],Right[10],Right_M[10],Mid[10],EX[10],FX[10],Mid2[10];
uint32 adc[8];
uint8 i=0,j=0;
int AD_MinValue[8] = {0,0,0,0,0,0,0,0};//四路电感最小值 abcdMef M2
int AD_MaxValue[8] = {370,350,350,370,820,550,550,780};//四路电感最大值,1,2,3,4
float data1=0,data2=0,data3=0,data4=0,data5=0,data6=0,data7=0,data8=0;
int max1=10,max2=10,max3=10,max4=10,max5=10,max6=10,max7=10,max8=10;
int angle=705,Q=0,qangle=0,anglepuls=0;
float a=0,b=0,c=0,d=0,M=0,e=0,f=0,M2=0,cha=0,weizhi=0,qiancha=0;
float qa=0,qb=0,qc=0,qd=0,qM=0,qe=0,qf=0,qM2=0;
float cha1=1,cha2=1,cha3=1,he1=1,he2=1,he3=1;
float x=0,y=0,g=0,U=0,oy=0,ocha=0;
float gx=0.8,gy=0.1,gg=0.1; //23333333333333333333
float disP=5,disD=1; //比例设置
float k=50,kb=0; //2333333333333333333 kb=0 角可能不够不通过 kb过大会向内过偏 kb=0.6直道震荡 但弯道优秀
int16 stopmada=1;
int16 templ_pluse = 0;
int16 tempr_pluse = 0;
int dao=0,daolast=0,t=0,indao=0,outdao=0,zhidao=0,W=0,wandao=1,sancha=0,diuxian=0,daof=0;
int qzhidao=0,qwandao=0,qsancha=0,sanchazhi=0;
int set_duty=100,set_dutyl=100,set_dutyr=100;
int bt=0,Sbing=0,bti=0;
int16 time=0;
int16 time1=0,time2=0,time3=0,time4=0,time5=0;
int sw1_status=1;
int sw2_status=1;
int key1_status = 1;
int key2_status = 1;
int key3_status = 1;
int key4_status = 1;
//上一次开关状态变量
int key1_last_status;
int key2_last_status;
int key3_last_status;
int key4_last_status;
int sw1_last_status;
int sw2_last_status;
int oncestart=1,onceend=1,tu=0;
float t2=0;
int t1=0;
//开关标志位
int key1_flag;
int key2_flag;
int key3_flag;
int key4_flag;
int sw1_flag;
int sw2_flag;
int sure=0;