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#include "headfile.h"
void jihuo() //激活/停止
{
uint sign = 3;
//調整四腳姿勢
delayms(250);
t_up0 = 1800;
t_up1 = 1500;
t_up2 = 1500;
t_up3 = 1500;
t_up4 = 1500;
t_up5 = 1500;
t_up6 = 1500;
t_up7 = 1500;
t_up8 = 1500;
t_up9 = 1100;
t_up10 = 1500;
t_up11 = 1600;
//抬左前腿
delayms(200);
t_up7 = 1800;
delayms(50);
t_up8 = 1200;
while(sign--)
{
delayms(200);
t_up6 = 1100;
delayms(200);
t_up6 = 1500;
}
delayms(200);
t_up7 = 1500;
delayms(50);
t_up8 = 1500;
delayms(200);
t_up0 = 1500;
t_up9 = 1500;
}
void ahead() //前進
{
//調整四腳姿勢
delayms(250);
t_up0 = 1500;
t_up1 = 1500;
t_up2 = 1500;
t_up3 = 1500;
t_up4 = 1500;
t_up5 = 1500;
t_up6 = 1500;
t_up7 = 1500;
t_up8 = 1500;
t_up9 = 1500;
t_up10 = 1500;
t_up11 = 1600;
while(direc == 2)
{
//抬右腿
delayms(250);
t_up1 = 1200;
delayms(125);
t_up2 = 1800;
delayms(100);
t_up0 = 1900;
delayms(100);
t_up1 = 1700;
t_up6 = 1900;
delayms(100);
t_up3 = 1000;
delayms(50);
t_up4 = 1300;
delayms(100);
t_up9 = 1100;
delayms(100);
t_up5 = 1300;
t_up2 = 1500;
delayms(100);
t_up5 = 1500;
delayms(50);
t_up4 = 1500;
//抬左腿
delayms(250);
t_up7 = 1800;
delayms(125);
t_up8 = 1200;
delayms(100);
t_up6 = 1400;
delayms(100);
t_up7 = 1300;
t_up0 = 1500;
delayms(100);
t_up9 = 1500;
delayms(50);
t_up10 = 1700;
delayms(100);
t_up3 = 1500;
delayms(100);
t_up11 = 1800;
t_up8 = 1500;
delayms(100);
t_up11 = 1600;
delayms(50);
t_up10 = 1500;
}
}
void back() //后退
{
//調整四腳姿勢
delayms(250);
t_up0 = 1500;
t_up1 = 1500;
t_up2 = 1500;
t_up3 = 1500;
t_up4 = 1500;
t_up5 = 1500;
t_up6 = 1500;
t_up7 = 1500;
t_up8 = 1500;
t_up9 = 1500;
t_up10 = 1500;
t_up11 = 1600;
while(direc == 3)
{
//抬右腿
delayms(250);
t_up4 = 1800;
delayms(125);
t_up5 = 1200;
delayms(100);
t_up3 = 1000;
delayms(100);
t_up4 = 1300;
t_up9 = 1200;
delayms(100);
t_up0 = 2000;
delayms(50);
t_up1 = 1700;
delayms(125);
t_up6 = 1900;
delayms(125);
t_up2 = 1700;
t_up5 = 1500;
delayms(125);
t_up2 = 1500;
delayms(50);
t_up1 = 1500;
//抬左腿
delayms(250);
t_up10 = 1200;
delayms(125);
t_up11 = 1900;
delayms(100);
t_up9 = 1500;
delayms(100);
t_up10 = 1700;
t_up3 = 1500;
delayms(100);
t_up6 = 1500;
delayms(50);
t_up7 = 1300;
delayms(100);
t_up0 = 1500;
delayms(100);
t_up8 = 1200;
t_up11 = 1600;
delayms(100);
t_up8 = 1500;
delayms(50);
t_up7 = 1500;
}
}
void ymove() //向右平移
{
//調整四腳姿勢
delayms(250);
t_up0 = 1500;
t_up1 = 1500;
t_up2 = 1500;
t_up3 = 1500;
t_up4 = 1500;
t_up5 = 1500;
t_up6 = 2000;
t_up7 = 1500;
t_up8 = 1500;
t_up9 = 1100;
t_up10 = 1500;
t_up11 = 1600;
while(direc == 7)
{
//右邊起身
delayms(250);
t_up2 = 2000;
delayms(50);
t_up1 = 1800;
delayms(50);
t_up5 = 1000;
delayms(50);
t_up4 = 1200;
//左邊起身
delayms(250);
t_up7 = 1200;
t_up10 = 1800;
delayms(50);
//右邊還原
t_up1 = 1500;
t_up4 = 1500;
delayms(50);
t_up2 = 1500;
t_up5 = 1500;
t_up8 = 1200;
t_up11 = 1900;
delayms(100);
//左邊還原
t_up7 = 1500;
t_up10 = 1500;
delayms(50);
t_up8 = 1500;
t_up11 = 1600;
}
}
void zmove() //向左平移
{
//調整四腳姿勢
delayms(250);
t_up0 = 1500;
t_up1 = 1500;
t_up2 = 1500;
t_up3 = 1500;
t_up4 = 1500;
t_up5 = 1500;
t_up6 = 2000;
t_up7 = 1500;
t_up8 = 1500;
t_up9 = 1100;
t_up10 = 1500;
t_up11 = 1600;
while(direc == 6)
{
//左邊起身
delayms(250);
t_up8 = 1000;
delayms(50);
t_up7 = 1200;
delayms(50);
t_up11 = 2100;
delayms(50);
t_up10 = 1800;
//右邊起身
delayms(250);
t_up1 = 1800;
t_up4 = 1200;
delayms(50);
//左邊還原
t_up7 = 1500;
t_up10 = 1500;
delayms(50);
t_up8 = 1500;
t_up11 = 1600;
t_up2 = 1800;
t_up5 = 1200;
delayms(100);
//右邊還原
t_up1 = 1500;
t_up4 = 1500;
delayms(50);
t_up2 = 1500;
t_up5 = 1500;
}
}
void right() //右轉
{
//調整四腳姿勢
delayms(250);
t_up0 = 1500;
t_up1 = 1500;
t_up2 = 1500;
t_up3 = 1500;
t_up4 = 1500;
t_up5 = 1500;
t_up6 = 1500;
t_up7 = 1500;
t_up8 = 1500;
t_up9 = 1500;
t_up10 = 1500;
t_up11 = 1600;
delayms(250);
t_up1 = 1200;
delayms(125);
t_up0 = 1900;
delayms(100);
t_up1 = 1500;
while(direc == 5)
{
delayms(200);
t_up1 = 1700;
delayms(50);
t_up2 = 1700;
delayms(200);
t_up3 = 1100;
delayms(100);
t_up2 = 1500;
delayms(50);
t_up1 = 1500;
delayms(200);
t_up4 = 1400;
delayms(50);
t_up5 = 1400;
delayms(100);
t_up0 = 1900;
delayms(100);
t_up9 = 1100;
delayms(100);
t_up6 = 1900;
delayms(200);
t_up5 = 1500;
delayms(50);
t_up4 = 1500;
delayms(200);
t_up1 = 1700;
delayms(50);
t_up2 = 1700;
delayms(200);
t_up6 = 1500;
delayms(200);
t_up2 = 1500;
delayms(50);
t_up1 = 1500;
delayms(200);
t_up10 = 1600;
delayms(100);
t_up9 = 1500;
delayms(100);
t_up10 = 1500;
delayms(200);
t_up3 = 1500;
}
}
void left() //左轉
{
//調整四腳姿勢
delayms(250);
t_up0 = 1500;
t_up1 = 1500;
t_up2 = 1500;
t_up3 = 1500;
t_up4 = 1500;
t_up5 = 1500;
t_up6 = 1500;
t_up7 = 1500;
t_up8 = 1500;
t_up9 = 1500;
t_up10 = 1500;
t_up11 = 1600;
delayms(250);
t_up1 = 1200;
delayms(125);
t_up0 = 1900;
delayms(100);
t_up1 = 1500;
delayms(200);
t_up3 = 1000;
while(direc == 4)
{
delayms(200);
t_up1 = 1700;
delayms(50);
t_up2 = 1700;
delayms(200);
t_up6 = 2000; // 1900
delayms(200);
t_up3 = 1500;
delayms(200);
t_up9 = 1100;
delayms(50);
t_up2 = 1500;
delayms(200);
t_up1 = 1500;
delayms(200);
t_up6 = 1500;
delayms(200);
t_up3 = 1100;
delayms(200);
t_up11 = 1400;
delayms(50);
t_up9 = 1500;
delayms(50);
t_up11 = 1600;
}
}

復制代碼