上海电力学院电自二队技术报告
//if(xlb<=0&&speed!=0) //xlb=0;
if(ad_z<(xielv2+20)&&ad_y<(xielv2+20)&&ad_m<(xielv2+20)) if(dwei==0) xlb=0; else
xlb=10;
if(qishixian&&type==1) { count++;
if(count==3000) { count=0;
qishixian=0; qishicishu++; } }
if(qishicishu>=2&&PORTA_PA5) { if(speed>3) { xlb=speed*20; xlb=-xlb; } else
xlb=0; } if(xlb<0) {
if(dwei!=0) { Backward(); PWMDTY23=-xlb; }else{ xlb=0; } }else {
Forward(); PWMDTY01=xlb; }
} }
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