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  • 大小: 622KB
    文件類型: .7z
    金幣: 1
    下載: 0 次
    發(fā)布日期: 2021-06-06
  • 語言: 其他
  • 標(biāo)簽: 循跡小車??

資源簡介

本程序?yàn)閰⒓榆涖y杯競速小車機(jī)器人組冠軍組的程序,為雙向循跡小車程序,本程序通過PID循跡讓小車更快速且穩(wěn)定的按照固定軌跡競速,小車前后安裝兩個(gè)循跡模塊,進(jìn)行雙向循跡,免去了小車轉(zhuǎn)彎的時(shí)間。由于小車在雙向循跡的過程中,速度月快穩(wěn)定性越差,所以本程序?qū)⒀E速度進(jìn)行了三級調(diào)速,大家可以通過撥動(dòng)兩個(gè)開關(guān)來選擇小車的循跡速度,在此將程序開源,大家可以自行下載,下載積分為0。

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代碼片段和文件信息

/**************************************************************************//**
?*?@file?????core_cm3.c
?*?@brief????CMSIS?Cortex-M3?Core?Peripheral?Access?layer?Source?File
?*?@version??V1.30
?*?@date?????30.?October?2009
?*
?*?@note
?*?Copyright?(C)?2009?ARM?Limited.?All?rights?reserved.
?*
?*?@par
?*?ARM?Limited?(ARM)?is?supplying?this?software?for?use?with?Cortex-M?
?*?processor?based?microcontrollers.??This?file?can?be?freely?distributed?
?*?within?development?tools?that?are?supporting?such?ARM?based?processors.?
?*
?*?@par
?*?THIS?SOFTWARE?IS?PROVIDED?“AS?IS“.??NO?WARRANTIES?WHETHER?EXPRESS?IMPLIED
?*?OR?STATUTORY?INCLUDING?BUT?NOT?LIMITED?TO?IMPLIED?WARRANTIES?OF
?*?MERCHANTABILITY?AND?FITNESS?FOR?A?PARTICULAR?PURPOSE?APPLY?TO?THIS?SOFTWARE.
?*?ARM?SHALL?NOT?IN?ANY?CIRCUMSTANCES?BE?LIABLE?FOR?SPECIAL?INCIDENTAL?OR
?*?CONSEQUENTIAL?DAMAGES?FOR?ANY?REASON?WHATSOEVER.
?*
?******************************************************************************/

#include?

/*?define?compiler?specific?symbols?*/
#if?defined?(?__CC_ARM???)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????__inline???????????????????????????????????/*!
#elif?defined?(?__ICCARM__?)
??#define?__ASM???????????__asm???????????????????????????????????????/*!??#define?__INLINE????????inline??????????????????????????????????????/*!
#elif?defined???(??__GNUC__??)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#elif?defined???(??__TASKING__??)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#endif


/*?###################??Compiler?specific?Intrinsics??###########################?*/

#if?defined?(?__CC_ARM???)?/*------------------RealView?Compiler?-----------------*/
/*?ARM?armcc?specific?functions?*/

/**
?*?@brief??Return?the?Process?Stack?Pointer
?*
?*?@return?ProcessStackPointer
?*
?*?Return?the?actual?process?stack?pointer
?*/
__ASM?uint32_t?__get_PSP(void)
{
??mrs?r0?psp
??bx?lr
}

/**
?*?@brief??Set?the?Process?Stack?Pointer
?*
?*?@param??topOfProcStack??Process?Stack?Pointer
?*
?*?Assign?the?value?ProcessStackPointer?to?the?MSP?
?*?(process?stack?pointer)?Cortex?processor?register
?*/
__ASM?void?__set_PSP(uint32_t?topOfProcStack)
{
??msr?psp?r0
??bx?lr
}

/**
?*?@brief??Return?the?Main?Stack?Pointer
?*
?*?@return?Main?Stack?Pointer
?*
?*?Return?the?curren

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