智能车光电组程序

for(i=1;i

SUM=SUM+heixianjilu_servo[i];

if(heixianjilu_servo[i]>MAX) MAX=heixianjilu_servo[i]; if(heixianjilu_servo[i]

AVERAGE=SUM/lushu_servo;

if((MAX-MIN)<=1) xiuzhengliang=0;//GotoDebug(); else xiuzhengliang=MAX-MIN; ///修正量，偏移差值的大小 //GotoDebug(); }

///****************************************************/// /////////////////////////速度程序/////////////////////////

///****************************************************/// void kongzhi_speed() {

ui MAX; ui MIN;

heixianjishu_speed=0;/////////////////计数器清零 MAX=heixianjilu_speed[0]; MIN=heixianjilu_speed[0]; for(i=1;i

if(heixianjilu_speed[i]>MAX) MAX=heixianjilu_speed[i]; if(heixianjilu_speed[i]

if((MAX-MIN)<=2) SPEED=fast; else if((MAX-MIN)<=3) SPEED=mid; else SPEED=speed; }

//******************************************************** /////////////////////////记录黑线/////////////////////////

//******************************************************** void jiluheixianweizhi_servo(ui k) { if(k==0) {

heixianjilu_servo[0]=BLACKLINEUP; heixianjishu_servo++; }

else if(k<(lushu_servo-1)) {

if(heixianjilu_servo[k-1]!=BLACKLINEUP)

{

heixianjilu_servo[k]=BLACKLINEUP; heixianjishu_servo++; } } else {

if(heixianjilu_servo[k-1]!=BLACKLINEUP) {

heixianjilu_servo[k]=BLACKLINEUP; kongzhi_servo(); } } }

///////普通记录方式,速度控制 void jiluheixianweizhi_speed(ui k) { if(k==0) {

heixianjilu_speed[0]=BLACKLINEUP; heixianjishu_speed++; }

else if(k<(lushu_speed-1)) {

if(heixianjilu_speed[k-1]!=BLACKLINEUP) {

heixianjilu_speed[k]=BLACKLINEUP; heixianjishu_speed++; } } else {

if(heixianjilu_speed[k-1]!=BLACKLINEUP) {

heixianjilu_speed[k]=BLACKLINEUP; kongzhi_speed(); } } }

//******************************************************** ///////////////////////起跑线处理/////////////////////////

//******************************************************** void qipaoxianchuli_down(void) {

qipaoxian=qipaoxian+1; for(;;)

{ yunsu(fast); caiji_down();

if(DOWN==0) PWMDTY01=3800; if(DOWN==1) PWMDTY01=4100; if(DOWN==2) PWMDTY01=4500; if(DOWN==3) PWMDTY01=490; if(DOWN==4) PWMDTY01=520; DOWN_former=DOWN; if(heidian_down==1) break; } }

void shangpo() { for(;;) {

if(flag_caijiwancheng==1) {

flag_caijiwancheng=0;/////10路采集完成标志位清零 for(i=1;i<=10;i++) {

LASER[i]=LASER_chucai[i]; }

//////黑线提取 daoluxingcheng(); caiji_down();

if(DOWN==0) PWMDTY01=3500; if(DOWN==1) PWMDTY01=4000; if(DOWN==2) PWMDTY01=4500; if(DOWN==3) PWMDTY01=5000; if(DOWN==4) PWMDTY01=5500; DOWN_former=DOWN; if(heidian==1) {

PWMDTY01=zhiturn[BLACKLINEUP]; break; } } yunsu(40); } }

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

////////////////////////采集预值////////////////////////////

//******************************************************** void caiji_yuzhi(void) {

////////////对每一路的黑、白值赋初值 for(i=1;i<11;i++) {

baixianbiaozhun[i] = 0; heixianbiaozhun[i] = 0xfff; }

////先打开第一组1/6 //M2 1 //M3 6 PTM=0b11110011; PORTA=0xff; EnableInterrupts; for(;;) {

if(flag_caijiwancheng==1) {

for(i=1;i<=10;i++) {

LASER[i]=LASER_chucai[i]; }

flag_caijiwancheng=0;/////10路采集完成标志位清零 for(i=1;i<11;i++) {

///////////每一路的黑线分别取到最小 ///////////每一路的白线分别取到最大值 if(LASER[i]baixianbiaozhun[i]) baixianbiaozhun[i]=LASER[i]; }

}

if(PORTK==8&&flag_caijiwancheng==1) /////采集最后一排图像后进行值的处理 {

DisableInterrupts;

//////////求出每路黑白均值 for(i=1;i<11;i++) {

average[i]=(heixianbiaozhun[i]+baixianbiaozhun[i])*8/20; } break; }