Car/User/Src/line_seek.c

#include "line_seek.h"

#include "main.h"

char LineSeek_Status[5];

/**
 * @brief      获取巡线状态
 * @param[in]  int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2  四路巡线位指针
 * @retval     void
 */
void LineSeek_GetStatus(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2)
{
    *p_iL1 = HAL_GPIO_ReadPin(LineSeek_L1_GPIO_Port, LineSeek_L1_Pin);
    *p_iL2 = HAL_GPIO_ReadPin(LineSeek_L2_GPIO_Port, LineSeek_L2_Pin);
    *p_iR1 = HAL_GPIO_ReadPin(LineSeek_R1_GPIO_Port, LineSeek_R1_Pin);
    *p_iR2 = HAL_GPIO_ReadPin(LineSeek_R2_GPIO_Port, LineSeek_R2_Pin);
}

/**
 * @brief 获取巡线状态并返回表示状态的字符串
 * @retval char LineSeek_Status[5]
 */
char *LineSeek_GetStatusStr()
{
    int iL1, iL2, iR1, iR2;
    LineSeek_GetStatus(&iL1, &iL2, &iR1, &iR2);
    sprintf(LineSeek_Status, "%d%d%d%d", iL1, iL2, iR1, iR2);
    return LineSeek_Status;
}

int LineSeek_Equals(const char *expression)
{
    int i;
    for (i = 0; i < 4; i++)
    {
        if (expression[i] != 'x' && expression[i] != LineSeek_Status[i])
        {
            return 0;
        }
    }
    return 1;
}