给我一段tl rslk小车迷宫代码

以下是一个使用TL-RSLK小车的迷宫解决方案的示例代码：

#include <msp.h>
#include <stdio.h>
#include <stdlib.h>
#include "ti/devices/msp432p4xx/inc/msp432p401r.h"
#include "ti/devices/msp432p4xx/driverlib/driverlib.h"
#include "ti/drivers/UART.h"
#include "ti/drivers/UART.h"
#include "ti/drivers/Power.h"
#include "ti/drivers/I2C.h"
#include "ti/drivers/PWM.h"
#include "ti/drivers/Watchdog.h"
#include "ti/drivers/Timer.h"
#include "ti/drivers/GPIO.h"
#include "ti/drivers/ADC.h"
#include "ti/drivers/SPI.h"
#include "ti/drivers/EMAC.h"
#include "ti/drivers/USB.h"
#include "ti/drivers/Flash.h"
#include "ti/drivers/CAN.h"
#include "ti/drivers/WiFi.h"
#include "ti/drivers/NVS.h"
#include "ti/drivers/RF.h"
#include "ti/drivers/SDSPI.h"
#include "ti/drivers/Camera.h"
#include "ti/drivers/EEPROM.h"
#include "ti/drivers/SHA2.h"

#define FORWARD 0x01
#define RIGHT 0x02
#define LEFT 0x03
#define BACK 0x04

#define NO_WALL 0x00
#define WALL 0x01

#define MAX_STACK_SIZE 50

unsigned char map[16][16] = {0};
unsigned char visited[16][16] = {0};
unsigned char direction = FORWARD;
unsigned char current_x = 0;
unsigned char current_y = 0;
unsigned char stack_x[MAX_STACK_SIZE] = {0};
unsigned char stack_y[MAX_STACK_SIZE] = {0};
unsigned char stack_size = 0;

void move(unsigned char dir) {
switch (dir) {
case FORWARD:
if (direction == FORWARD && current_y < 15 && map[current_x][current_y+1] == NO_WALL) {
current_y++;
} else if (direction == RIGHT && current_x < 15 && map[current_x+1][current_y] == NO_WALL) {
current_x++;
} else if (direction == LEFT && current_x > 0 && map[current_x-1][current_y] == NO_WALL) {
current_x--;
} else if (direction == BACK && current_y > 0 && map[current_x][current_y-1] == NO_WALL) {
current_y--;
}
break;
case RIGHT:
if (direction == FORWARD) {
direction = RIGHT;
} else if (direction == RIGHT) {
direction = BACK;
} else if (direction == LEFT) {
direction = FORWARD;
} else if (direction == BACK) {
direction = LEFT;
}
break;
case LEFT:
if (direction == FORWARD) {
direction = LEFT;
} else if (direction == RIGHT) {
direction = FORWARD;
} else if (direction == LEFT) {
direction = BACK;
} else if (direction == BACK) {
direction = RIGHT;
}
break;
case BACK:
if (direction == FORWARD && current_y > 0 && map[current_x][current_y-1] == NO_WALL) {
direction = BACK;
current_y--;
} else if (direction == RIGHT && current_x > 0 && map[current_x-1][current_y] == NO_WALL) {
direction = LEFT;
current_x--;
} else if (direction == LEFT && current_x < 15 && map[current_x+1][current_y] == NO_WALL) {
direction = RIGHT;
current_x++;
} else if (direction == BACK && current_y < 15 && map[current_x][current_y+1] == NO_WALL) {
direction = FORWARD;
current_y++;
}
break;
}
}

void push(unsigned char x, unsigned char y) {
if (stack_size < MAX_STACK_SIZE) {
stack_x[stack_size] = x;
stack_y[stack_size] = y;
stack_size++;
}
}

void pop(unsigned char *x, unsigned char *y) {
if (stack_size > 0) {
stack_size--;
*x = stack_x[stack_size];
*y = stack_y[stack_size];
}
}

void print_map() {
printf("Map:\n");
for (unsigned char y = 15; y >= 0; y--) {
for (unsigned char x = 0; x < 16; x++) {
if (x == current_x && y == current_y) {
printf("X");
} else if (map[x][y] == WALL) {
printf("#");
} else if (visited[x][y]) {
printf(".");
} else {
printf(" ");
}
}
printf("\n");
}
}

void solve_maze() {
visited[current_x][current_y] = 1;
while (current_x != 15 || current_y != 15) {
if (current_x == 15 && current_y == 15) {
break;
}
if (current_x > 0 && !visited[current_x-1][current_y] && map[current_x][current_y] != LEFT) {
push(current_x, current_y);
move(LEFT);
visited[current_x][current_y] = 1;
continue;
}
if (current_x < 15 && !visited[current_x+1][current_y] && map[current_x][current_y] != RIGHT) {
push(current_x, current_y);
move(RIGHT);
visited[current_x][current_y] = 1;
continue;
}
if (current_y > 0 && !visited[current_x][current_y-1] && map[current_x][current_y] != BACK) {
push(current_x, current_y);
move(BACK);
visited[current_x][current_y] = 1;
continue;
}
if (current_y < 15 && !visited[current_x][current_y+1] && map[current_x][current_y] != FORWARD) {
push(current_x, current_y);
move(FORWARD);
visited[current_x][current_y] = 1;
continue;
}
pop(&current_x, &current_y);
}
}

void init_map() {
for (unsigned char x = 0; x < 16; x++) {
for (unsigned char y = 0; y < 16; y++) {
map[x][y] = 0;
}
}
for (unsigned char x = 0; x < 16; x++) {
map[x][0] = WALL;
map[x][15] = WALL;
map[0][x] = WALL;
map[15][x] = WALL;
}
map[0][0] |= LEFT;
map[15][15] |= RIGHT;
}

void main(void) {
WDT_A_hold(WDT_A_BASE);
init_map();

while (1) {
print_map();
printf("Moving...\n");
solve_maze();
printf("Done!\n");
getchar();
}
}