void main(void)
{   
	Init_System();
	delay_ms(2000);  		//delay time    
	#ifdef debug              
		delay_ms(500);		//in order to adjust
		UART_Transimit(' ');
		UART_Transimit('O');
		UART_Transimit('K');
		UART_Transimit('!'); 
		UART_Transimit(0x0d);
		UART_Transimit(0x0a);
	#endif

	#ifdef debug   
		debug_act();		// for debug
	#endif
		
	setspeed(1800);			// set the speed
	//stand_by(stand_walk,0,4);//walk 
	//delay_ms(500);
	//while(1){
	//	setspeed(2400);
	//	stand_by(yuezhang,0,10);//the acting of string
	//	delay_ms(200);
	//	stand_by(yuezhang,11,12);
	//	delay_ms(100);
	//	stand_by(yuezhang,13,16);
	//	delay_ms(100);
	//	stand_by(yuezhang,17,22);	
	//}
	while(1)//for walk
	{
		stand_by(stand_walk,5,7);
		delay_ms(100);
		stand_by(stand_walk,8,10);
		delay_ms(100);
		stand_by(Left_zhuan,0,5);//turn left
		delay_ms(100);
		stand_by(stand_walk,5,7);
		delay_ms(100);
		stand_by(Right_zhuan,0,5);//turn right
		delay_ms(100);
		stand_by(stand_walk,8,10);
		delay_ms(100);							
	}
			  
	while(1)
		{
		setspeed(1800);
		while(Long_Detection() || ob == 1)
			{
			if(Short_Detection())
				{
				obstacle();
				ob = 0;
				break;
				};
			if(!Detection1(1))	//detection
				{
				stand_by(small_walk,0,7);
				delay_ms(100);
				} 
			else 
				{
				Deal_Black1(1);
				while(Detection1(1))
					{
					Deal_Black1(1);
					}							
				}
			if(Short_Detection())
				{
				obstacle();
				ob = 0;
				break;
				};
			if(!Detection1(0))			
				{
				stand_by(small_walk,0,7);
				delay_ms(100);
				} 
			else 
				{
				Deal_Black1(0);
		    		while(Detection1(0))
					{
					Deal_Black1(0);
					}			  
				} 			
			}	

	 	setspeed(1200);		 
	 	while(!Long_Detection())
			{
		 	if(!Detection(0))	// before the obstacle
				{
				stand_by(stand_walk,5,7);
				delay_ms(100);
				} 
			else
				{
				Deal_Black(0);
		    		while(Detection(0) && !Long_Detection())
					{
					Deal_Black(0);
					}
				if(!Long_Detection())
					{
					stand_by(stand_walk,5,7);
					delay_ms(100);
					}
				else 
					{
					stand_by(small_walk,0,0);
					delay_ms(100);
					break;
					}			  
				}
			if(!Detection(1))	//adjust
				{
				stand_by(stand_walk,8,10);
				delay_ms(100);
				} 
			else 
				{
				Deal_Black(1);
				while(Detection(1) && !Long_Detection())
					{
					 Deal_Black(1);
					}
				if(!Long_Detection())
					{
					stand_by(stand_walk,8,10);
					delay_ms(100);
					}
			else 
				{
				stand_by(small_walk,0,0);
				delay_ms(100);
				break;
				}							
			} 		
		}	
	}
	   
}