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- int a;int b;int d;int x=0;int y=0;
- void read1(){TMR1H = 0;TMR1L = 0;
- PORTa.F6 = 1;Delay_us(10);PORTa.F6 = 0;
- while(!PORTa.F7);T1CON.F0 = 1;while(PORTa.F7);T1CON.F0 = 0;
- a = (TMR1L | (TMR1H<<8));a = a/34;a = a + (a/5);
- if(a<11){a=a+1;}else a=a;}
- void read2(){TMR1H = 0;TMR1L = 0;
- PORTa.F1 = 1;Delay_us(10);PORTa.F1 = 0;
- while(!PORTa.F0);T1CON.F0 = 1;while(PORTa.F0);T1CON.F0 = 0;
- b = (TMR1L | (TMR1H<<8));b = b/34;b = b + (b/5);
- if(b<11){b=b+1;}else b=b;}
- void read3(){TMR1H = 0;TMR1L = 0;
- PORTa.F2 = 1;Delay_us(10);PORTa.F2 = 0;
- while(!PORTa.F3);T1CON.F0 = 1; while(PORTa.F3);T1CON.F0 = 0;
- d = (TMR1L | (TMR1H<<8));d = d/34;d = d + (d/5); if(d<11){d=d+1;}else d=d;}
- void main()
- { cmcon=7; T1CON = 0x10; TRISB = 0b00000000; TRISa = 0b10001001; porta=0; portb=0;delay_ms(100);
- loop:
- read2();x=b;delay_ms(200); read2();y=b;
- b=(x-y);
- if( b>=14){portb.f0=1;read1();read3();
- if(a>=d){portb.f7=1;portb.f4=1;delay_ms(200);portb.f7=0;portb.f4=0;}
- if(d>=a){portb.f1=1;portb.f3=1;delay_ms(200);portb.f1=0;portb.f3=0;}
- }
- if( b<=10){portb.f0=0;}
- goto loop;
- }
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