#include?
#include?“common.h“
#include?“include.h“
#include?“Image.h“


int?white[60]img_l[60]img_r[60];
extern?int?middle;
int?s_mid;
int?middle_last;
extern?int?witwidth;
extern?uint8?img[CAMERA_H][CAMERA_W];
extern?int?distance_middleimgrimgl;
extern?int?flag_stop;

int?xiuzheng[60]={40404039393938383837
??????????????????37373636353534343332
??????????????????32313131303029292828
??????????????????27272626252524242323
??????????????????22222121202019191817
??????????????????17161615141414141414
????????????????};

///////////////////定義行列60*80//////////////////
#define?ROW????60?
#define?COLUMN?80?
//標志位
int?stopcar?=?0;
extern?int?errerr_last;
uint8?rowcolcnt?=?0;
int?sumR_flag=0L_flag=0wit_flag=0stop_flag=0?variance?=?0variance_return?;
int?now_go=0;
int?obflag_r=0obflag_l=0;??????????????//障礙物出現標志
//作用：?近場的數據濾波，即將孤立的噪聲去除，即兩個黑點之間是黑點，兩個白點之間是白點
//改變全局變量：?img[ROW][COLUMN]
//輸入：?無
//輸出：?無
void?nearlvbo（）
{
	int?ij;
	for（i=ROW-1;i>0;i--）
	{
		for（j=1;j			if（img[i][j-1]==255&&img[i][j+1]==255&&img[i][j]==0）
				img[i][j]=255;
			else?if（img[i][j-1]==0&&img[i][j+1]==0&&img[i][j]==255）
				img[i][j]=0;
	}
}
///////////////////////
//修正函數避免數組溢出
////////////////////////
int?sum_border（int?sum）
{
????if（sum<1）
????????sum=1;
????else?if（sum>78）
????????sum=78;
????return?sum;
}

//遠場發現障礙物
//發現在直道上雙邊線都在
/*
int?find_far（）
{
????int?ob=0count_o=0;//計數速減次數
????R_flag=0;?L_flag=0;//obflag_l=0;obflag_r=0;
????
????for（row=30;row>27;row--）
????{
??????for（col?=?40;?col<79;?col++?）?????????//右邊界255為白，0為黑
??????{
????????????if（（img[row][col-1]?==?255）&&（img[row][col-2]==255）&&（img[row][col+1]==0）&&（img[row][col+2]==0））
?????????????{?????????????????????
?????????????????img_R?=col;?????????????????????????
?????????????????R_flag=1;???????????????
?????????????????break;?????????????????????????????
?????????????}
??????}
??????for（col?=?40;?col>1;?col--?）????????????//左邊界
??????{
????????????if（（img[row][col+1]?==?255）&&（img[row][col+2]==255）&&（img[row][col-1]==0）&&（img[row][col-2]==0））
????????????{
??????????????????img_L?=col;
??????????????????L_flag=1;
??????????????????break;
????????????}
??????}

??????if（R_flag==1?&&?L_flag==1）
??????{?
??????????sum?+=?（img_R+img_L）/2;
??????????count_o++;
?????????????
??????????if（?（（img_R-img_L）>20）?&&?（（img_R-img_L）<40）?）
????????????????ob++;
????????????????sum?/=?count_o;?
????????????????
????????????????if（ob?>=?2）
????????????????{
????????????????????if（sum>40）
????????????????????{
????????????????????????obflag_l?=?1;
????????????????????????obflag_r?=?0;
????????????????????}else?
????????????????????{
????????????????????????obflag_r?=?1;
????????????????????????obflag_l?=?0;
????????????????????}
????????????????????
????????????????????break;
????????????????}???
??????}
??????R_flag=0;L_

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-01-23?21:44??zhili_xinche714_03\
?????目錄???????????0??2017-07-14?11:17??zhili_xinche714_03\zhili_xinche714_02\
?????目錄???????????0??2017-07-13?11:36??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\
?????目錄???????????0??2017-07-14?22:45??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\
?????目錄???????????0??2017-07-14?22:40??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\
?????文件???????18010??2018-01-23?21:46??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\Image.c
?????文件?????????387??2017-07-14?03:17??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\Image.h
?????目錄???????????0??2017-07-09?11:12??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\Inc\
?????文件????????1522??2015-03-24?12:03??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\Inc\include.h
?????文件????????4397??2017-07-09?11:12??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\Inc\MK60_conf.h
?????文件?????????914??2014-10-06?04:08??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\Inc\MK60_it.h
?????文件????????5992??2017-03-19?12:49??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\Inc\PORT_cfg.h
?????文件???????17931??2018-01-23?21:46??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\main.c
?????文件??????????59??2017-07-01?22:23??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\main.h
?????文件???????11533??2014-10-02?15:24??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\MK60_conf.c
?????文件?????????463??2014-10-06?04:08??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\App\MK60_it.c
?????目錄???????????0??2017-07-08?15:45??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\
?????目錄???????????0??2017-07-09?11:11??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\
?????文件?????????661??2015-01-26?13:58??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_ASCII.h
?????文件????????2805??2014-09-21?22:19??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_BMP.h
?????文件????????1765??2015-04-01?22:10??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_camera.h
?????文件?????????943??2015-03-24?12:36??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_computer.h
?????文件?????????209??2014-09-21?22:19??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\vcan_img2sd.h
?????文件????????2087??2014-10-09?01:07??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_key.h
?????文件?????????336??2014-09-21?22:19??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_key_event.h
?????文件????????5486??2015-03-30?13:28??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_LCD.h
?????文件?????????959??2014-10-24?15:29??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_LCD_CH.h
?????文件????????2100??2017-07-09?11:11??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_LCD_ILI9341.h
?????文件????????4390??2014-10-02?15:27??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_LCD_ST7735R.h
?????文件????????4390??2014-10-02?15:27??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_LCD_ST7735S.h
?????文件?????????962??2014-10-02?15:27??zhili_xinche714_03\zhili_xinche714_02\zhili_xinche713_01\zhili_xinche713\Board\inc\VCAN_LED.H
............此處省略174個文件信息