Freescale photoelectric group competition program, very helpful. Laser sensors, there are encoders.

car\C_Layout.hwl
...\Default.mem
...\Full_Chip_Simulation.ini
...\car_Data\CWSettingsWindows.stg
...\........\TBDML\TargetDataWindows.tdt
...\........\.....\ObjectCode\MC9S12XS128.c.o
...\........\.....\..........\datapage.c.o
...\........\.....\..........\Start12.c.o
...\........\.....\..........\direction.c.o
...\........\.....\..........\driver power.c.o
...\........\.....\..........\previous store.c.o
...\........\.....\..........\signal sample.c.o
...\........\.....\..........\initialization.c.o
...\........\.....\..........\analogsample and unitary.c.o
...\........\.....\..........\speedcontrol.c.o
...\........\.....\..........\deal with digital signal.c.o
...\........\.....\..........\sta0x01f7-left2.c.o
...\........\.....\..........\sta0x01e7-left1.c.o
...\........\.....\..........\sta0x01ef-middle.c.o
...\........\.....\..........\sta0x01fb-left4.c.o
...\........\.....\..........\sta0x01f3-left3.c.o
...\........\.....\..........\sta0x01f9-left5.c.o
...\........\.....\..........\sta0x01fd-left6.c.o
...\........\.....\..........\sta0x01fc-left7.c.o
...\........\.....\..........\sta0x01fe-left8.c.o
...\........\.....\..........\sta0x01cf-right1.c.o
...\........\.....\..........\sta0x01df-right2.c.o
...\........\.....\..........\sta0x019f-right3.c.o
...\........\.....\..........\sta0x01bf-right4.c.o
...\........\.....\..........\sta0x013f-right5.c.o
...\........\.....\..........\sta0x017f-right6.c.o
...\........\.....\..........\sta0x007f-right7.c.o
...\........\.....\..........\sta0x00ff-right8.c.o
...\........\.....\..........\sta0x01ff-out of path.c.o
...\........\.....\..........\sta0x0000-all off.c.o
...\........\.....\..........\main.c.o
...\........\.....\..........\imperative brake.c.o
...\........\.....\..........\Tsta0x0000-all off.c.o
...\........\.....\..........\Tsta0x000f-c-right8.c.o
...\........\.....\..........\Tsta0x00ff-right8.c.o
...\........\.....\..........\Tsta0x01bf-right4.c.o
...\........\.....\..........\Tsta0x01c0-c-left6.c.o
...\........\.....\..........\Tsta0x01c1-left4.c.o
...\........\.....\..........\Tsta0x01c3-left2.c.o
...\........\.....\..........\Tsta0x01c7-middle3.c.o
...\........\.....\..........\Tsta0x01cf-right1.c.o
...\........\.....\..........\Tsta0x0001-c-right2.c.o
...\........\.....\..........\Tsta0x01df-right2.c.o
...\........\.....\..........\Tsta0x01e0-c-left8.c.o
...\........\.....\..........\Tsta0x01e1-left6.c.o
...\........\.....\..........\Tsta0x01e3-left4.c.o
...\........\.....\..........\Tsta0x01e7-left1.c.o
...\........\.....\..........\Tsta0x01ef-middle.c.o
...\........\.....\..........\Tsta0x01f0-c-left10.c.o
...\........\.....\..........\Tsta0x01f1-left8.c.o
...\........\.....\..........\Tsta0x01f3-left3.c.o
...\........\.....\..........\Tsta0x01f7-left2.c.o
...\........\.....\..........\Tsta0x01f8-c-left12.c.o
...\........\.....\..........\Tsta0x01f9-left5.c.o
...\........\.....\..........\Tsta0x01fb-left4.c.o
...\........\.....\..........\Tsta0x01fc-left7.c.o
...\........\.....\..........\Tsta0x001f-c-right10.c.o
...\........\.....\..........\Tsta0x01fd-left6.c.o
...\........\.....\..........\Tsta0x01fe-left8.c.o
...\........\.....\..........\Tsta0x01ff-out of path.c.o
...\........\.....\..........\Tsta0x0003-c-right4.c.o
...\........\.....\..........\Tsta0x003f-c-right12.c.o
...\........\.....\..........\Tsta0x0007-c-right6.c.o
...\........\.....\..........\Tsta0x007f-right7.c.o
...\........\.....\..........\Tsta0x010f-right6.c.o
...\........\.....\..........\Tsta0x011f-right8.c.o
...\........\.....\..........\Tsta0x013f-right5.c.o
...\........\.....\..........\Tsta0x017f-right6.c.o
...\........\.....\..........\Tsta0x018f-right4.c.o
...\........\.....\..........\Tsta0x019f-right3.c.o
...\........\.....\..........\Tsta0x0100-c-left2.c.o
...\........\.....\..........\Tsta0x0101-middle1.c.o
...\........\.....\..........\Tsta0x0103-right2.c.o
...\........\.....\..........\Tsta0x0107-right4.c.o
...\........\.....\..........\Tsta0x0180-c-left4.c.o
...\........\.....\..........\Tsta0x0181-left2.c.o
...\........\.....\..........\Tsta0x0183-middle2.c.o
...\.......

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