摄像头组 华东理工Suprise队技术报告（摄像头） - 图文

dissum = 0; if (20 < ValidVIDEO_HEIGHT) tmpheight = ValidVIDEO_HEIGHT; else tmpheight = 20; for (i = tmpheight; i < VIDEO_HEIGHT; i++) { sum = sum + image_center[i]; } sum = sum / (VIDEO_HEIGHT - tmpheight); for (i = ValidVIDEO_HEIGHT + 3; i > ValidVIDEO_HEIGHT; i--) { dissum = dissum + image_center[i]; } dissum = dissum / 3; /*Duo_kp = (INT16U)(ABS(sum - 50) * ABS(sum - 50)) * 110 / 100; if (sum < 43) { Duoji_data = STEER_PWM_MIDDLE + Duo_kp; } else { Duoji_data = STEER_PWM_MIDDLE - Duo_kp; } */ if (sum < 50) { Duoji_data = STEER_PWM_MIDDLE + (INT16U)(ABS(sum - 50) * ABS(sum - 50)) * 40 / 100 + (50 - sum )*3/*(MotorPID_FeedBackReal - MOTOR_PWM_MIDDLE)*30/100*/; Led1On;Led8Off; } else { Duoji_data = STEER_PWM_MIDDLE - (INT16U)(ABS(sum - 50) * ABS(sum - 50)) * 60 / 100 - (sum - 50)*4/*(MotorPID_FeedBackReal - MOTOR_PWM_MIDDLE)*30/100*/; Led8On;Led1Off; } if (ABS((INT8S)sum-50)>0 && ABS((INT8S)sum-50)<15) {

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Led2On; Led3Off; } if (ABS((INT8S)sum-50)>=17) { Led3On; Led2Off; } }

void PWMDuo_Duty(INT16U duo_duty) { PWMDTY67 = duo_duty; }

void PWMdian_Duty(INT8U duty) { PWMDTY0 = duty; }

/********************************************************************* Function Name:SystemStart Description: Start Sysmtem

*********************************************************************/ void SystemStart(void) { { INT8U i, tmpcount1 = 0, j; INT16U tmpsss = 0, tmpcount = 0, tmpcount2 = 0, tmpflagg = 0,loop=0; EnableInterrupts; Flag = 0; //数据循环处理 for (;;) { //等待场切换 while (VIDEO_EVEN_STATUS == VideoEvenFlag) ; VideoEvenFlag = VIDEO_EVEN_STATUS;

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