智能车制作

标题: 求翻译 [打印本页]

作者: 緋龍在天 时间: 2015-3-13 23:15
标题: 求翻译

#include <hidef.h> /* common defines and macros */

#include "derivative.h" /* derivative-specific definitions */

#include "main.h"

#include <math.h>

#include "Hardware_Init.H"

#include "CCD_TSL1401.h"

#include "delay.h"

#include "SCIISP.h"

#include"Fuzzy.h"

int LR_Add = 0;

int LR_Sub = 0;

int Dir_Error[3]={0};

int Dir_Deviation[3];

int Dir_P;

int Dir_I;

int Dir_D;

int k1;

int k2;

int Dir_ControlOut;

unsigned char BIN[128] = {0};

unsigned char CCD2_BIN[128] = {0};

int NowSpeed;

int Speed_Error[3]={0};

int Speed_Deviation[3]={0};

int Speed_Zhi;

int Speed_Wan;

int Speed_P;

int Speed_I;

int Speed_D;

/**/

int Zhidao_Flag=0;

int StopLine_Flag=0;

int temptemp;

int temptemp1;

unsigned int STime=0;

unsigned int RenTime=0;

int Pass_Renzi=0;

int RenziJiance=0;

void Parameter_Setting(void)

{

//Dir_P = 10;

Dir_I = 0;

Dir_D = 0;

Speed_Zhi = 170;

Speed_Wan = 170;

Speed_P = 2;

Speed_I = 1;

Speed_D = 0;

STime = 3;

RenTime = 3;

TH = 15;

TH1 = 2;

}

void Stop_Car(void)

{

PWME_PWME0 = 0;

DDRP_DDRP0 = 1;

PERP_PERP0 = 1;

PPSP_PPSP0 = 1;

PTP_PTP0 = 0;

if(NowSpeed>40)

Motor_Out(0,200);

else

{

Motor_Out(0,0);

PWME_PWME1 = 0;

DDRP_DDRP1 = 1;

PERP_PERP1 = 1;

PPSP_PPSP1 = 1;

PTP_PTP1 = 0;

}

void StopLine_Judgement(void)//(请队员查询一下红外对管的工作原理)

{

static int Flag_Q1;

static int Flag_Q2;

static int Time_Q1;

static int Time_Q2;

if(PORTA_PA6==0)

{

Flag_Q1 = 1;

}

if(Flag_Q1 == 1)

{

Time_Q1++;

}

if((Time_Q1>=1)&&(PTIJ_PTIJ6==0))

{

StopLine_Flag = 1;

Flag_Q1 = 0;

Time_Q1 = 0;

}

if(Time_Q1>15)

{

Flag_Q1 = 0;

Time_Q1 = 0;

}

if(PTIJ_PTIJ6==0)

{

Flag_Q2 = 1;

}

if(Flag_Q2 == 1)

{

Time_Q2++;

}

if((Time_Q2>=1)&&(PORTA_PA6==0))

{

StopLine_Flag = 1;

Flag_Q2 = 0;

Time_Q2 = 0;

}

if(Time_Q2>15)

{

Flag_Q2 = 0;

Time_Q2 = 0;

}

void Binarization(void)

{

unsigned char i;

for(i=0;i<128;i++)

{

if(Pixel>Threshold)

{

BIN = 50;

}

else

{

BIN = 0;

}

if(Pixel2>Threshold1)

{

CCD2_BIN = 50;

}

else

{

CCD2_BIN = 0;

}

void Get_LRSide(unsigned char *ABIN)

{

int i,j,k;

for(i=0;i<127;i++)

{

if((ABIN==0)&&(ABIN[i+1]==0)&&(ABIN[i+2]==50)&&(ABIN[i+3]==50)&&(ABIN[i+4]==50))

{

k1 = i;

}

if((ABIN[i-3]==50)&&(ABIN[i-2]==50)&&(ABIN[i-1]==50)&&(ABIN==0)&&(ABIN[i+1]==0))

{

k2 = i; break;

}

float Pos_cal(void)

{

float fValue=0.0;

float Value=0.0;

LR_Add = 64-middle;

//LR_Add = 64-(k1+k2)/2;

//LR_Sub = k1-k2;

Dir_Error[2] = Dir_Error[1];

Dir_Error[1] = Dir_Error[0];

Dir_Error[0] = LR_Add;

Dir_Deviation[2] = Dir_Deviation[1];

Dir_Deviation[1] = Dir_Deviation[0];

Dir_Deviation[0] = Dir_Error[0]- Dir_Error[1];

Fuzzy_lishudu(LR_Add,Dir_Deviation[0]);

Dir_P = Fuzzy_Kp(0,0);

//Dir_I = Fuzzy_Ki(10,1);

//Dir_D = Fuzzy_Kd(0,0);

Value = LR_Add*Dir_P +Dir_Deviation[0]*Dir_I/100.0+Dir_Error[1]*Dir_D/100.0;

fValue=Value;

return fValue;

}

void Dir_Out(void)

{

float Dir;

static unsigned char flag1=0,flag2=0;

Dir = Pos_cal();

Dir_ControlOut = Dir_M - Dir;

if(Dir_ControlOut <= Dir_MIN) Dir_ControlOut = Dir_MIN;

if(Dir_ControlOut >= Dir_MAX) Dir_ControlOut = Dir_MAX;

PWMDTY23 = (unsigned int)Dir_ControlOut;

}

void Speed_Control(unsigned int speed)

{

static int Speed_Out;

int speed_temp;

speed_temp = speed;

Speed_Error[2]=Speed_Error[1];

Speed_Error[1]=Speed_Error[0];

Speed_Error[0]=speed_temp-NowSpeed;

Speed_Deviation[2] = Speed_Deviation[1];

Speed_Deviation[1]= Speed_Deviation[0];

Speed_Deviation[0] = Speed_Error[0]-Speed_Error[1];

Speed_Out +=Speed_P*Speed_Error[0]+Speed_I*(Speed_Deviation[0])+Speed_D*(Speed_Deviation[1]);

if(Speed_Out>250)

Speed_Out=250;

else if(Speed_Out<0)

Speed_Out=0;

Motor_Out(Speed_Out,0);

}

void Motor_Out(unsigned charForward,unsigned char back)

{

if(Forward>=250) Forward =250;

if(back>=250) back = 250;

PWMDTY0 = Forward;

PWMDTY1 = back;

}