ELM_2DIVM_0SELSDIVS_0SMCLKMCLKXT2DIV0sumerror0lasterror0flag0
ffloatPID_CalfloaterrorfloatSe
sor_Read左边传感器压线往左偏elseif
um0
um4a
ssum
umifa
s0P6OUT0x80P6OUTi
ta
s05staticfloata
s0floatsum0i
tise
sor0
um0se
sorP5IN3757565550se
sorP3INBIT71se
sorfori0i9iifse
sor1isumSe
sori
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PerrorIsumerrorDderror
f
P6OUTi
ta
s05
retur
a
s运行找正常
voidAvoidDetectio
floatleftfloatright壁障函数voidmai
voidStopwatchdogtimertopreve
ttimeoutresetWDTCTLWDTPWWDTHOLDCrystalIO_i
titimer_i
tiPID_i
tiP6OUT0XF0while1ifflagi
tse
sor0MotorLeftleftMotorRightrightdelay200doMotorLeftrightMotorRightleftse
sorP3INBIT73757565550se
sorse
sor1P5INwhilese
sor0x1ff当在空白的时候，一只往里面拐。
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DriveMotorPID_CalSe
sor_Read
pragmavectorTIMERB0_VECTOR__i
terruptvoidtimer_bopragmavectorPORT1_VECTOR__i
terruptvoidport_1AvoidDetectio
LEFTRIGHTflagflag
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