飞思卡尔智能车程序Word文档格式.docx

飞思卡尔智能车程序Word文档格式.docx

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//x-positionofthearray

unsignedcharline;

//y-positionofthearray

unsignedintrow_count;

//rowcounter

unsignedcharline_sample;

//usedtocounterinAD

unsignedcharrow_image;

unsignedcharline_temp;

//temperaryvariableusedindatatransfer

unsignedcharsample_data[LINE_MAX];

//usedtosaveone-dimensionarraygotin

interruption

//variablesbelowareusedinspeedmeasure

Unsignedcharpulse[5];

//usedtosavedatainPAprocess

Unsignedcharcounter;

//temporarycounterinSpeeddetect

Unsignedcharcur_speed;

//currentspeed

shortstand;

shortdata;

unsignedcharcurve;

//valveusedtodecidestraightorturn

shortBounds（shortdata）;

shortFuzzyLogic（shortstand）;

/*----------------------------------------------------------------------------*\

receive_sci

\*----------------------------------------------------------------------------*/

unsignedcharreceive_sci（void）//receivedatathroughsci

{unsignedcharsci_data;

while（SCI0SR1_RDRF!

=1）;

sci_data=SCI0DRL;

returnsci_data;

}

transmit_sci

voidtransmit_sci（unsignedchartransmit_data）//senddatathroughsci

{

while（SCI0SR1_TC!

while（SCI0SR1_TDRE!

SCI0DRL=transmit_data;

/*****************************************************************************

***/

abs_sub

unsignedcharabs_sub（unsignedcharnum1,unsignedcharnum2）

{unsignedchardifference;

if（num1>

=num2）{

difference=num1-num2;

}else{

difference=num2-num1;

returndifference;

voidpwm_set（unsignedintdutycycle）

PWMDTY1=dutycycle&

0x00FF;

PWMDTY0=dutycycle>

>

8;

voidget_black_wire（void）//usedtoextractblackwire

{unsignedchari;

for（row=0;

row<

ROW_MAX;

row++）{

for（line=LINE_MIN;

line<

LINE_MAX-3;

line++）{

if（image_data[row][line]>

image_data[row][line+3]+VALVE）{

for（i=3;

i<

10;

i++）{

if（image_data[row][line+i]+VALVE<

image_data[row][line+i+3]）{

black_x[row]=line+i/2+2;

i=10;

line=LINE_MAX;

}else{

//black_x[row]=（black_x[row]/45）*78;

speed_control

voidspeed_control（void）

unsignedintsum,average;

sum=0;

FIRST_FIVE;

sum=sum+black_x[row];

average=sum/FIRST_FIVE;

curve=0;

row++）

curve=curve+abs_sub（black_x[row],average）;

if（curve>

CURVE_MAX）{

curve_flag=0;

speed=low_speed;

else{

curve_flag=1;

speed=hign_speed;

steer_control

voidsteer_control（void）

{unsignedintdutycycle;

unsignedcharvideo_center;

unsignedintcoefficient;

intE,U;

//current

staticinte=0;

video_center=（LINE_MIN+LINE_MAX）/2;

stand=abs_sub（black_x[1]+black_x[9],2*black_x[5]）;

E=video_center-black_x[8];

coefficient=30+1*FuzzyLogic（stand）;

U=coefficient*E;

dutycycle=Bounds（center+U）;

pwm_set（dutycycle）;

//makesureitiswithinbounds

shortBounds（shortdata）{

if（data>

right_limit）{

data=right_limit;

if（data<

left_limit）{

data=left_limit;

returndata;

Voidspeed_get（void）

Unsignedchartemp;

Counter++;

Temp=PACN1;

cur_speed=temp-pulse[counter-1];

pulse[counter-1]=temp;

if（counter==5）

counter=0;

Voidset_speed（unsignedchardesired_speed）

If（desired_speed<

cur_speed）

PWMDTY2=low_speed;

Else

PWMDTY2=high_speed;

*\

Main

\*****************************************************************************

*/

voidmain（void）{

//mainfunctiion

init_PORT（）;

//portinitialization

init_PLL（）;

//settingofthePLL

init_ECT（）;

init_PWM（）;

//PWMINITIALIZATION

init_SPEED（）;

init_SCI（）;

for（;

;

）{

if（field_signal==0）{//even->

odd

while（field_signal==0）;

row_count=0;

row_image=0;

EnableInterrupts;

while（row_count<

ROW_END）{

get_black_wire（）;

speed_control（）;

steer_control（）;

DisableInterrupts;

else{//odd->

even

while（field_signal==1）;

ROW_END）