#include???????/*?common?defines?and?macros?*/
#include?“derivative.h“??????/*?derivative-specific?definitions?*/
#include?“PWM.h“
#include?“control.h“
#include?“SCI.h“
#include?“deal_image.h“//處理圖像的函數(shù)
#include?“my_math.h“
#include?“PIT.h“
#include?“ECT.h“


unsigned?int?ave_x;//中心線的平均值

unsigned?char?curve_value;//彎道系數(shù)

unsigned?char?steer_refer;//轉(zhuǎn)向參考值

unsigned?char?speed_refer;//速度參考值

static?uchar?steer_control_value?=?0;//轉(zhuǎn)向參數(shù)傳遞用

static?uchar?speed_control_value?=?0;//速度參數(shù)傳遞用

static?uchar?ave_x_control_value?=?0;//中心線參數(shù)傳遞用

static?uchar?current_speed_value?=?0;//脈沖計(jì)數(shù)器當(dāng)前速度傳遞用

static?uchar?wanted_speed_value?=?0;//目標(biāo)速度



/**********************************************
//功????能：控制初始化
//入口參數(shù)：無(wú)
//出口參數(shù)：無(wú)
***********************************************/
void?Control_Init（void）?
{
??PWM01_Init（）;//PWM01初始化，車輪正位
??PWM23_Init（）;//PWM23初始化，車速0
??PWM45_Init（）;//PWM45初始化，車速0
??PIT0_Init（）;?//定時(shí)器初始化
??PA_Init（）;???//脈沖計(jì)數(shù)器初始化
}


/**********************************************
//功????能：得到中心線平均值ave_x
//入口參數(shù)：無(wú)
//出口參數(shù)：無(wú)
***********************************************/

void?Get_Ave_X（void）?
{
??SCI_1Init（）;
??LINE_MAX?=?image_length;//默認(rèn)得到的所有的中心線有效
??ave_x?=?0;
??
??for（alter_line?=?0;alter_line???{
????ave_x?=?ave_x?+?centre_line[alter_line];
????if（centre_line[alter_line]==0x00）//得到無(wú)效數(shù)據(jù)總行數(shù)自減一
????????LINE_MAX--;?????
??}
??ave_x?=?（unsigned?char）（ave_x/LINE_MAX）;
??
??if（ave_x==0）ave_x=0x20;
??//SCI_1Write（0xff）;
??//SCI_1Write（（unsigned?char）ave_x）;
}

/************************************************
//功????能：得到curve_value?獲得彎道模式參數(shù)
//入口參數(shù)：無(wú)
//出口參數(shù)：無(wú)
*************************************************/

void?Get_Curve_value（void）
{
??LINE_MAX?=?image_length;
??curve_value?=?0;
??for（alter_line?=?0;alter_line???{
????if（centre_line[alter_line]?!=?0）
??????curve_value?=?curve_value?+?abs_（centre_line[alter_line]?-?0x20）;
????else
??????LINE_MAX--;
??}
??curve_value?=?（unsigned?char）curve_value/LINE_MAX;
??//SCI_1Write（curve_value）;
}
/************************************************
//功????能：判斷彎道模式?并修改彎道與速度參數(shù)
//入口參數(shù)：無(wú)
//出口參數(shù)：無(wú)
*************************************************/
void?Enter_Curve（void）
{
??
??if（curve_value?<=?0x05）//此時(shí)為直線，curve_value為直線晃動(dòng)產(chǎn)生的參考值
??{
????steer_refer?=?26;//減小晃動(dòng)，小參考值
????speed_refer?=?24;//最大速度
????//speed_refer?=?curve_value?*?curve_value;
??}
??else?if（（curve_value>=0x06）&&（curve_value?<=0x08））//一級(jí)彎道
??{
????steer_refer?=?26;
????speed_refer?=?20;?
????//speed_refer?=?curve_value?*?curve_value;?
??}
??else?if（（curve_value>=0x09）&&（curve_value?<=0x0a））//二級(jí)彎道
??{
????steer_refer?=?27;
????speed_refer?=?19;?
????//speed_refer?=?curve_value?*?curve_value;?
??}
??else?if（（curve_value>=0x0b）&&（curve_value?<=0x0d））//三級(jí)彎道
??{
????steer_refer?=?28;
????speed_refer?=?17;?
????//speed_refer?=?curve_value?*?curve_value;?
??}?
??else?if（（curve_value>

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2011-06-29?15:32??CCD\
?????目錄???????????0??2011-06-29?15:32??CCD\bin\
?????文件??????189075??2011-04-12?11:18??CCD\bin\Project.abs
?????文件????????1666??2011-04-12?11:18??CCD\bin\Project.abs.glo
?????文件????????1654??2011-04-12?11:18??CCD\bin\Project.abs.s19
?????文件??????109079??2011-04-12?11:18??CCD\bin\Project.map
?????文件???????60327??2011-04-06?18:43??CCD\CCD.mcp
?????目錄???????????0??2011-06-29?15:32??CCD\CCD_Data\
?????文件????????4287??2011-04-12?11:18??CCD\CCD_Data\CWSettingsWindows.stg
?????目錄???????????0??2011-06-29?15:32??CCD\CCD_Data\Standard\
?????目錄???????????0??2011-06-29?15:32??CCD\CCD_Data\Standard\objectCode\
?????文件???????11576??2011-04-11?20:26??CCD\CCD_Data\Standard\objectCode\control.c.o
?????文件???????13941??2011-03-18?14:12??CCD\CCD_Data\Standard\objectCode\datapage.c.o
?????文件???????15528??2011-04-11?21:28??CCD\CCD_Data\Standard\objectCode\deal_image.c.o
?????文件???????11154??2011-04-11?16:14??CCD\CCD_Data\Standard\objectCode\ECT.c.o
?????文件????????3534??2011-04-08?18:54??CCD\CCD_Data\Standard\objectCode\list_control.c.o
?????文件????????4852??2011-04-12?11:18??CCD\CCD_Data\Standard\objectCode\main.c.o
?????文件??????164184??2011-03-18?14:12??CCD\CCD_Data\Standard\objectCode\MC9S12XS128.c.o
?????文件????????4229??2011-04-06?18:37??CCD\CCD_Data\Standard\objectCode\my_math.c.o
?????文件????????8557??2011-04-11?16:14??CCD\CCD_Data\Standard\objectCode\PIT.c.o
?????文件???????12140??2011-04-06?18:37??CCD\CCD_Data\Standard\objectCode\PLL.c.o
?????文件???????10228??2011-04-06?18:37??CCD\CCD_Data\Standard\objectCode\PWM.c.o
?????文件???????14096??2011-04-06?18:37??CCD\CCD_Data\Standard\objectCode\SCI.c.o
?????文件????????5553??2011-03-18?14:12??CCD\CCD_Data\Standard\objectCode\Start12.c.o
?????文件??????524136??2011-04-12?11:18??CCD\CCD_Data\Standard\TargetDataWindows.tdt
?????目錄???????????0??2011-06-29?15:32??CCD\cmd\
?????文件????????1514??2011-03-18?14:12??CCD\cmd\TBDML_Erase_unsecure_hcs12xe.cmd
?????文件??????????59??2011-03-18?14:12??CCD\cmd\TBDML_Postload.cmd
?????文件??????????60??2011-03-18?14:12??CCD\cmd\TBDML_Preload.cmd
?????文件??????????60??2011-03-18?14:12??CCD\cmd\TBDML_Reset.cmd
?????文件??????????59??2011-03-18?14:12??CCD\cmd\TBDML_Startup.cmd
............此處省略37個(gè)文件信息