#include?“common.h“
#include?“include.h“
#include?“int.h“
#include?“irq.h“
#include?“control.h“
#include?“IMAGE.h“
#include?“pid.h“
int?MidPos=40;
extern?int?uw;
extern?int?Start;
extern?int?duoji;
extern?int?sanjiaol;
extern?int?sanjiaor;
//int?LastError=0;
extern?int?shizi;
int?Lastspeedderect=0;
int?LastStableNumbers=0;
void?DirectionCtrol（void）;
int?aaa=0;
int?wd=0;
int?zd=0;
int?adc1;
int?adc2;
int?adc3;
extern?unsigned?int?BlackEndM;
float?Error?=?0.0ENCError=0.0;//原來是double
double?Error0;
int?Foresight?=?RowMax-5;//18????0

unsigned?char?StraightFS?=?RowMax-10;//直道前瞻
unsigned?char?SmallSFS?=?RowMax-10;//小s前瞻
unsigned?char?BigFS?=?RowMax-10;//大S前瞻
unsigned?char?BendFS?=?RowMax-10;//急彎前瞻
unsigned?char?CommonFS?=?RowMax-10;//普通前瞻
unsigned?char?StraightToBendFS?=?RowMax-10;
unsigned?char?ZhongxinFS=RowMax-10;


#define?dz??1??//??1.4
double?k?=0;//0.380.28???????//1.6為最大值
float?StraightK?=0.5*dz;//0.2//直道系數???
float?SmallSK?=?0.9*dz;//0.2	//小S系數
float?BigSK?=?0.9*dz;//大S系數
float?BendK?=?1.2*dz;//急彎
float?CommonK?=?1*dz;//普通系數									
float?zhijiaoK=?1*dz;
float?StraightToBendK?=0*dz;

float?temK_k=0;
float?temK?=1.0;
float?temk_l=1.0;
float?temk_r=1.0;


unsigned?char?StraightEnd?=?RowMax-3;//直道截止行
unsigned?char?SmallSEnd?=?RowMax-3;//小S彎截止行
unsigned?char?BigSEnd?=?RowMax-5;//大S彎截止行
unsigned?char?BendEnd?=?RowMax-3;//急彎截止行
unsigned?char?CommonEnd?=?RowMax-8;//普通截止行
unsigned?char?StraightToBenEnd?=?RowMax-0;//直入彎截止行

signed?int?RoadType=0;//賽道類型
signed?int?RoadType0=0;//賽道類型
int?IncreaseSpeed1;//長直道速度提升1
int?IncreaseSpeed2;//長直道速度提升2
int?IncreaseSpeed3;//長直道速度提升3
unsigned?char?StraightToBenEnd;
extern?signed?char?LastRoadType;
unsigned?int?weightSum1=0;
int?LineWeight[RowMax]?=?{0};

unsigned?char?xunhuan=0;????????????//直角控制??????
unsigned?char?ControlTime=0;

unsigned?char?ZhijiaoRightSpeed=0;
unsigned?char?ZhijiaoLeftSpeed=0;
unsigned?char?ZhijiaoJianSpeed=0;

unsigned?char?xunhuan2=0;???????????//過障礙控制
unsigned?char?ControlTime2=0;

int?Zhijiaoturn=0;
int?LastZhijiaoturn=0;

unsigned?char?ZhongxinCount=0;
unsigned?char?Zhongxin[RowMax];
unsigned?char?LeftMissMax=0;????????//右邊緣找到左邊連續丟失的行數??
unsigned?char?RightMissMax=0;
unsigned?char?AllMissMax=0;??????????//左右邊緣都丟失的情況0

double?p1=0d1=0;//6.44.8標準
double?P;
double?D;

int?SteerPidCal_1;

double?LastError?=?0.0;

int?CrossingBegin?=?0;
int?CrossingCount?=?0;

int?SpeedPid?=?0;

volatile?unsigned?char?IsStartLine;//起跑線標志
unsigned?char?IsOutRoad;//沖出賽道標志
int?StraightSpeed?=?0;???//差速速度控制
int?SmallSSpeed	?=?0;
int?BendSpeed?=?0;
int?CommonSpeed=0;
int?BigSSpeed=0;
int?SmallSpeed=0;
int?ZhijiaoSpeed=0;
uint16?SpeedNumber;

unsigned?char?StraightToBendSpeed=15;
extern?unsigned?char?AllStraightCount;
extern?unsigned?char?AllSmallSCount;
unsigned?char?CanSpeedUp=0;
int?HighSpeedFlag?=?0;
int?StableNumbers_max=0;
int?HighSpeedCount?=?0;

int?duoji1;
int?Lastduoji1;
extern?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????21685??2016-07-15?22:33??第一版7.14\App\control.c

?????文件????????478??2016-07-15?00:34??第一版7.14\App\control.h

?????文件??????87271??2018-04-30?10:19??第一版7.14\App\IMAGE.c

?????文件???????1952??2016-06-10?10:58??第一版7.14\App\IMAGE.h

?????文件???????1565??2016-05-13?20:43??第一版7.14\App\Inc\include.h

?????文件???????3032??2016-06-12?17:38??第一版7.14\App\Inc\MKL_conf.h

?????文件????????914??2014-10-24?15:09??第一版7.14\App\Inc\MKL_it.h

?????文件???????3943??2016-03-12?15:37??第一版7.14\App\Inc\PORT_cfg.h

?????文件???????3064??2016-07-15?21:43??第一版7.14\App\int.c

?????文件????????497??2016-04-16?20:15??第一版7.14\App\int.h

?????文件???????2486??2016-07-10?01:03??第一版7.14\App\irq.c

?????文件????????295??2015-12-27?10:18??第一版7.14\App\irq.h

?????文件???????3589??2018-04-30?10:21??第一版7.14\App\main.c

?????文件???????6630??2014-10-24?15:09??第一版7.14\App\MKL_conf.c

?????文件????????462??2014-10-24?15:15??第一版7.14\App\MKL_it.c

?????文件??????47994??2016-04-26?16:04??第一版7.14\App\OLED.c

?????文件???????2727??2016-03-21?11:29??第一版7.14\App\OLED.h

?????文件???????7076??2016-01-22?16:36??第一版7.14\App\pid.c

?????文件???????3054??2016-07-15?13:53??第一版7.14\App\pid.h

?????文件????????396??2016-03-11?19:02??第一版7.14\Board\Inc\shangweiji.h

?????文件????????661??2014-10-26?01:39??第一版7.14\Board\Inc\VCAN_ASCII.h

?????文件???????1696??2014-10-24?15:09??第一版7.14\Board\Inc\VCAN_camera.h

?????文件???????2087??2014-10-24?15:16??第一版7.14\Board\Inc\VCAN_key.h

?????文件????????336??2014-10-24?15:04??第一版7.14\Board\Inc\VCAN_key_event.h

?????文件???????5423??2014-10-26?01:40??第一版7.14\Board\Inc\VCAN_LCD.h

?????文件????????716??2014-10-24?15:29??第一版7.14\Board\Inc\VCAN_LCD_CH.h

?????文件???????4393??2014-10-24?15:09??第一版7.14\Board\Inc\VCAN_LCD_ST7735R.h

?????文件???????4417??2014-10-24?15:09??第一版7.14\Board\Inc\VCAN_LCD_ST7735S.h

?????文件????????962??2014-10-24?15:09??第一版7.14\Board\Inc\VCAN_LED.H

?????文件???????3445??2014-10-24?15:09??第一版7.14\Board\Inc\VCAN_MMA7455.h

............此處省略127個文件信息