資源簡介
里面包含 完整的源程序 以及各種算法，并含有所有調(diào)試的源代碼。所有原理的解析。
代碼片段和文件信息
/*==================================================*
?*?功能:?數(shù)據(jù)傳輸
?*?作者:?黃欽
?*?桂林電子科技大學(xué)?機(jī)電工程學(xué)院
?*?www.huayimcu.com?
?*?日期:2007/3/31
?*?備注:??
?????3.78V~3.84V??最好!??2007.4.19?huangqin
**==================================================*/
#include?“arithmetic.h“
//#include?“math.h“
//#include?“basceinc.h“
#define?CCD_VS????????PORTA_BIT2 ?//?PORTA_BIT0
//#define?CCD_ODDEVEN???PORTA_BIT3 ?//?
//CCD_MS?connect?to?MCU?interrupt?pin
//CCD_AN?connect?to?MCU?AN06
//#define?CCD_ROWS??????52//200
//#define?CCD_COLS??????24
#define?set_angle ?CCD_ROWS/2
int?m_cRowNum;
int?m_cCCDRowNum;
char?m_cSampNum;
uchar?m_aImage[CCD_ROWS][CCD_COLS]; //采樣塊
uchar?Image[CCD_ROWS][CCD_COLS]; ????//處理塊
uchar??m_cframeSampeFlag;
char?m_cframeCompleteFlag; char?reflag;
uchar?m_cCCDframeShiftFlag;
char?m_cframeSyncFlag;
int?m_cMuxPulseCnt;
uchar?m_StartShift;
char?m_aLineDot[CCD_ROWS-2]; ?//char?2007.5.20?huangqin
uchar?m_aLineCenter[CCD_COLS]; ?//char?2007.5.20?huangqin
uchar?m_aLineCenter2[CCD_COLS];
//char?m_disable[CCD_COLS];
char?markcenter; //uchar?2007.4.21?huangqin
uchar?stop_flag=0;
uchar?stop_count=0;
uchar?go_stop=0x0f;
uchar?dis_count;??//無效數(shù)據(jù)個數(shù)
/*********************?Speed?Parameter?***************************/
?int?ks=20; ?//2
?int?ksi=3; ?//ks=8??ksi=1??ksd=2??2007.4.22?以前都是用這個參數(shù)效果不是很好反應(yīng)慢一點
?int?ksd=5; ?//20?5?5 18?4?5比較理想
?int?es1; ?//22?5?6 ?OK
?int?es2;
?int?es3;
?
?int?speed_temp;
//?int?speed_out1;
?int?speed_out;
?int?detect_speed;
//?int?detect_speed1;
?
?int?set_speed=10; ?//30
?int?last_get_speed;
?int?smooth_start=-80; ?//柔和??平滑
?uchar?start_flag=0;
?uchar?sp_count;
?uchar?portb=0x00;
?
?int?speed_control=0;
?
?uchar?min_speed=127;
?int?max_speed=0; ?// ?32
?int?last_max_speed;
?
? ?//???fd????0c?01?03???12?05?05???7f?0a?7f
/*********************?Angle?Parameter?*****************************/?
?int?k=115;
?int?ki=5; ?
?int?kd=35;
?
?int?lk=115;
?int?lki=5; ?
?int?lkd=35; ?
?
?int?k_temp;
?int?ki_temp;
?int?kd_temp;
?
?int?e1;
?int?e2;
?int?e3;
?
?int?angle_temp;
?int?angle_out;
?int?last_angle=set_angle;
?int?last_angle_out;
//?char?last_angle[3];
?
?uchar?angle_count=0;
?uchar?get_count=100;
?
?char?lineL=0;
?char?lineR=CCD_ROWS;
?char?last_lineL=0;
?char?last_lineR=CCD_ROWS;
?
??
?uchar?regulate=127;
/*==================================================*
?*?函數(shù):?SCI_Init
?*?功能:?SCI的初始化
?*?作者:?
?*?備注:
**==================================================*/
void?SCI_init（void）?{
?SCI0BD?=?26; ??????//26?????//波特率的設(shè)定 ?115200=SCI?model?clock/（16*BR）
? SCI0CR2?=?0x2C; ?//enable?TXD //??SCI0CR2?=?0x08;??2007.4.20
?
?SCI1BD?=?1250;??//1250?2400?600?2007.4.28?huangqin?
?SCI1CR2?=?0x2C; //enable?TXD 接收中斷??2007.4.20
}
/*==================================================*
?*?函數(shù):?SCI_PutByte
?*?功能:?發(fā)送一個byte值
?*?作者:?
?*?參數(shù):?ucValu ?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????267896??2007-07-10?15:09??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2.rar
?????文件??????61340??2007-05-20?14:28??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\CarCCD.mcp
?????文件???????3434??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\readme.txt
?????文件????????855??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\C_Layout.hwl
?????文件????????161??2006-04-06?22:28??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Default.mem
?????文件???????3138??2007-07-15?19:39??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Simulator.ini
?????文件????????795??2011-11-08?18:23??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\說明.txt
?????文件??????17616??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\Start12.c
?????文件???????1655??2007-05-25?16:37??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\main.c
?????文件??????64750??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\datapage.c
?????文件??????29067??2007-07-14?23:15??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\arithmetic.c
?????文件???????1529??2007-07-09?12:08??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\arithmetic.h
?????文件????????162??2007-05-20?11:16??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\basceinc.h
?????文件???????3227??2007-07-14?17:41??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\init.c
?????文件????????399??2007-05-20?11:10??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\Sources\init.h
?????文件?????????59??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\cmd\Simulator_Startup.cmd
?????文件?????????60??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\cmd\Simulator_Preload.cmd
?????文件????????108??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\cmd\Simulator_Postload.cmd
?????文件?????????60??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\cmd\Simulator_Reset.cmd
?????文件?????????59??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\cmd\Simulator_SetCPU.cmd
?????文件???????4786??2007-04-01?15:11??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\prm\burner.bbl
?????文件???????2731??2007-05-23?17:41??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\prm\Simulator_li
?????文件?????142038??2007-07-14?23:15??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\bin\Simulator.map
?????文件?????190407??2007-07-14?23:15??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\bin\Simulator.abs
?????文件???????7030??2007-07-14?23:15??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\bin\Simulator.abs.phy
?????文件???????6980??2007-07-14?23:15??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\bin\Simulator.abs.s19
?????文件???????4272??2007-07-15?19:56??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\CarCCD_Data\CWSettingsWindows.stg
?????文件?????538325??2007-07-15?19:56??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\CarCCD_Data\Simulator\TargetDataWindows.tdt
?????文件?????155340??2007-07-14?17:41??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\CarCCD_Data\Simulator\ob
?????文件???????8080??2007-07-14?17:41??智能車2007-7-14新板\CarOK3_Fuzzy_FuzzyPID2\CarCCD_Data\Simulator\ob
............此處省略438個文件信息
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