找了很多智能车的代码，只能看懂几个基本的模块，但是上面的就看不懂了，求大神指指导

zhangguanghui · 发表于 2013-3-6 15:43:41

看不懂代码怎么办？？？？？急！！急！！！！！1

zhangguanghui · 发表于 2013-3-6 17:59:15

代码如下：

// 霍尔测速 (Hall Velocity Measurement)
// 通过定时取脉冲计数器里的值,计算后的出当前速度
// 所采集的最近一次速度放在SpeedTimeH 和 SpeedTimeL中

#include "includes.h"

// 车速计数器,以两次得到脉冲间隔的毫秒数计
INT16U carSpeedCounter[4];
INT16U carSpeedArrN = 0;
unsigned long lastAbsoluteTime;
//INT16U last_TC2, last_tc2_counter;

extern INT32U PerDistSrvTotal;
extern INT16U PerDistSrvN;

#define SRV_LEFT 0
#define SRV_CENTER 1
#define SRV_RIGHT 2

// 相差多少
#define DIS(x,y) ( ( (x) > (y) ) ? ( (x) - (y) ) : ( (y) - (x) ))

INT8U LastSrvAvg = 90;

INT16U PerDistSrvAvg = 90;
INT16U LastSrvState = SRV_CENTER;

// 以轮转圈数来计量路程
//#define ClearDistanceCounter() {PAC = 0;}
//#define GetDistance() (PAC)
//#define Distance PAC

INT16U GetSpeed(void) {
//如果还没开始跑,返回零
if (GetDistance() < 8)
      return 0xFFFF;

return  carSpeedCounter[0] +
         carSpeedCounter[1] +
         carSpeedCounter[2] +
         carSpeedCounter[3];
}

void ProcessSpeed_FUNC(void) {
carSpeedCounter[carSpeedArrN = (carSpeedArrN + 1) & 0x3] = (INT16U)(absoluteTime - lastAbsoluteTime);
lastAbsoluteTime = absoluteTime;

/******************************************************/
/** TODO 路径记忆的间隔分析 **/
/* 分析前面的开始新的 */
if (PerDistSrvTotal != 0 && PerDistSrvN != 0) {
      PerDistSrvAvg = (INT8U)(PerDistSrvTotal / PerDistSrvN);

      // 排除错误
      if (DIS(PerDistSrvAvg, LastSrvAvg) > 30) {
         PerDistSrvAvg = LastSrvAvg;
      }

      if ((PerDistSrvAvg > 50 && PerDistSrvAvg < 130) ) {
         LastSrvAvg = (INT8U)PerDistSrvAvg;
      }

} else {
      PerDistSrvAvg = LastSrvAvg;
}

// 发送调试数据
if (SCI0SR1 & 0x80) {
      SCI0DRL = (INT8U)((INT16S)((3927 * 4 * 4) / GetSpeed() * _RTI_P / 4));
      //(INT8U)PerDistSrvAvg;
}

/** 路径记忆入口点 **/
Process(GetDistance(), (INT8U)PerDistSrvAvg);

// 路径播放入口点
if (PathMemState == PLAY) {
      PathPlayProcess(GetDistance());
      PathPlayer(GetDistance());
}

// 判断特殊点
CheckNewPoint();

PerDistSrvTotal = 0;
PerDistSrvN = 0;
/******************************************************/
}

// 初始化测速器
void InitSpeeder(void) {
// 初始化和脉冲计数器
// WaitDisable();
WaitEnable();

InitPA();
PAI_FUNC = ProcessSpeed_FUNC;

lastAbsoluteTime = 0;

// 各位赋初值
ClearDistanceCounter();

}

有些看不懂
！！！