2012飞思卡尔哈尔滨工业大学智能车程序.doc

#include includes.h/*位置PID调节*/#define Ki_p 0#define Kp_p 9/20#define Kd_p 20/18void Va_0(char);//加速void Va_1(char);//减速void Va_2(char);//减速void Va_3(char);//减速void fun0(void);void fun1 (void);void fun2(void);void fun3(void);void fun4(void);void fun5(void);void fun6(void);void delay2(int x);#define cycle 2 //圈数void startpointIdentify()//起始识别/*起始点识别*/{char RaceS1 = RWS[0]+RWS[9]+RWS[1]+RWS[8]+RWS[2]+RWS[7];char RaceS2 = RWS[0]+RWS[1]+RWS[2]+RWS[3]+RWS[4]+RWS[5]+RWS[6]+RWS[7]+RWS[8]+RWS[9];if((RaceS1==6)(!WB))// RaceS1==6保证是正向通过，（!WB）{WB=1; //出发点判断打开Pulse=0; //开始记判断距离}if((RaceS2==10)(WB==1)(!WBOff)) //若RaceS2值为10表示通过的事交叉线{WBOff=1; //WBOff=1表示通过的是十字交叉线；}if((Pulse=5000)(WB==1))//判断距离是5000个码盘脉冲，计数结束后进入最终判断，同时初始化数据以便下一次判断；{if(WBOff==0)++Start; //Start表示经过出发点的次数；elseStart=Start;WBOff=0;WB=0;Pulse=0;// PORTA=Start;}if(Start=cycle+1) { WB1=1;if(Pulse=5000){WB1=0;Pulse=0;//DstV=0;stop_flag = 0;//delay2(10000);} }} int e,es=0;int ee[10];int cach[201];int DstV = 0;char flag_0;char flag_y; char stop_flag = 1;char a_flag;void SystemInit() {flag_0 = -1;CRGInit();ECTInit();//使能脉冲计数器 ATDInit(); PWMInit();PWME=0Xaa; //使能PWM输出DDRA = 0x00;EnableInterrupts;DDRB = 0xff;//PORTB = 0x55;ADvalueInit();// 初始化} char RWS[10]; //为全局布尔数组char WBOff=0,WB=0,WB1=0; //为全局布尔数int Pulse=0; //为型全局变量char Start=0; //经过起始点次数，为全局变量 void startpointIdentify();void main(void) { SystemInit();DstV =108;flag_0 = 0;for(;;) { if(flag_0==2){ biliY(); chushihua();//计算iecache_replace();ie=-ie; //反向加到舵机上cach[0]=(int)(ie*100); //处理完所有数据，ee[0] = cach[0]*Kp_p; e = cach[0]*Kp_p+(cach[0]-cach[7])*Kd_p;// /70*CurrentSpeed;if(e600)e=600;if(e-600)e=-600;ee[3] = cach[0] -cach[2]; if(stop_flag == 1){aa = PORTA;aa = aa0xf0; switch(aa){case 0x00:fun0();break;//冲弯道速度比较快 ,且第二圈速度会减速case 0x20:fun1();break;//冲弯道速度比较快case 0x30:fun2();break;//匀速case 0x50:fun3();break;//冲直道case 0x80:fun4();break;//快速直道，case 0x90:fun5();break;/