#include?“black.h“
#include?“usart.h“


extern?u8?Pic_Buff[3][330];
int?black_line1black_line2;
int?measure_lineerror;
#define?mid_line?160?????//取第i=120行，320個數(shù)
//#define?mid_line?120???//取第j=160行，240個數(shù)

/*-----	尋找黑線位置函數(shù)-----*/
void?Get_Black_Line（void）			//尋找黑線位置
{
??static?int?abc;
??static?int?first_bholesum;
	static?int?first_b_3first_3_linehole_3sum_3;
??static?int?measure_2_line;
	static?int?line_3_leftline_3_rightleft_sumright_sum;

	uart_init（9600）;
	
	//正常輸出偏差?i=120
	black_line1=0;
	black_line2=0;
??for（a=0;a<1;a++）
	{
	

//	??	for（b=20;b<220;b++）?//取第j=160行，240個數(shù)
		???for（b=20;b<300;b++）??//取第i=120行，320個數(shù)
			{

//				if（（Pic_Buff[0][b]==0）&&（Pic_Buff[0][b-1]==0）&&（Pic_Buff[0][b-2]==1）&&（Pic_Buff[0][b-3]==1））
			???if（（Pic_Buff[0][b]==1）&&（Pic_Buff[0][b-1]==1）&&（Pic_Buff[0][b-2]==0）&&（Pic_Buff[0][b-3]==0））
				{????
						?black_line1=b;?//檢測到黑點，計數(shù)（求平均時候用）
						?break;
				}
				
			}
//?	???for（c=220;c>20;c--）??//取第j=160行，240個數(shù)
		?for（c=300;c>20;c--）????//取第i=120行，320個數(shù)
		?{
//			?if（（Pic_Buff[a][c]==0）&&（Pic_Buff[a][c+1]==0）&&（Pic_Buff[a][c+2]==1）&&（Pic_Buff[a][c+3]==1））
	???????if（（Pic_Buff[a][c]==1）&&（Pic_Buff[a][c+1]==1）&&（Pic_Buff[a][c+2]==0）&&（Pic_Buff[a][c+3]==0））//剛開始檢測由白色到黑色的邊沿跳變
??????{
??????????black_line2=c;//檢測到黑點，計數(shù)（求平均時候用）
??????????break;
??????}
		?}	
	}

	????measure_line=（black_line1+black_line2）/2;
			error=measure_line-mid_line;
	?		printf（“誤差=%d\r\n“error）;
	
	
	
		//檢測前方是否有轉(zhuǎn)彎?i=90
	line_3_left??=0;
	line_3_right?=0;
	?for（first_b=20;first_b<300;first_b++）
	{
		if（（Pic_Buff[1][first_b]==1））
		{
			if（first_b				line_3_left++;
			if（first_b>measure_line）
				line_3_right++;
		}
	}

	
	//檢測前方是否有黑線?i=60
	hole_3=0;
	for（first_b_3=20;first_b_3<300;first_b_3++）
	{
		if（（Pic_Buff[2][first_b_3]==1））
		{
			hole_3+=first_b_3;
		//	sum_3++;
		}
	}
//	hole_3=hole_3/sum_3;
	
	
??????
			
	
	????measure_line=（black_line2-black_line1）;
			error=measure_line;
	?		printf（“誤差=%d\r\n“error）;
	???
	????measure_2_line=measure_line*3;
	????
	
	????if（（line_3_right>40）&&（hole_3				printf（“/********前方右轉(zhuǎn)彎*********/\r\n“）;??//右轉(zhuǎn)彎
			if（（line_3_left>40）&&（hole_3				printf（“/*********************/\r\n“）;?????//左轉(zhuǎn)彎
			
			
??????if（（line_3_right>40）&&（hole_3>?measure_2_line））?
				printf（“/*******黑黑黑黑黑黑黑黑黑黑黑黑********/\r\n“）;??
//			if（（line_3_left>40）&&（hole_3>?measure_2_line））
//				printf（“/*********************/\r\n“）;?????//左轉(zhuǎn)彎
					
				
}



//int??Pic_Buff_sum_left（int?a）
//{
//	static?int?ileft_sum;
//	left_sum=0;
//	for（i=0;i<120;i++）
//	{
//		left_sum+=Pic_Buff[a][i];
//	}
//	return?left_sum;
//}

//int??Pic_Buff_sum_right（int?a）
//{
//	static?int?iright_sum;
//	right_sum=0;
//	for（i=120;i<241;i++）
//	{
//		right_sum+=Pic_Buff[a][i];
//	}
//	return?right_sum;
//}

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

?????文件???????3093??2017-07-23?17:38??STM32F407+OV7725實時顯示\BSP\black.c

?????文件????????172??2017-06-26?15:18??STM32F407+OV7725實時顯示\BSP\black.h

?????文件???????2682??2017-06-13?18:05??STM32F407+OV7725實時顯示\BSP\BSP.c

?????文件????????366??2017-06-13?17:53??STM32F407+OV7725實時顯示\BSP\BSP.h

?????文件??????24549??2017-06-13?19:27??STM32F407+OV7725實時顯示\BSP\Driver.c

?????文件???????1637??2017-06-13?18:33??STM32F407+OV7725實時顯示\BSP\Driver.h

?????文件??????23306??2017-06-30?21:00??STM32F407+OV7725實時顯示\BSP\ili9341.c

?????文件???????3951??2017-06-13?18:33??STM32F407+OV7725實時顯示\BSP\ili9341.h

?????文件???????1207??2017-07-01?19:20??STM32F407+OV7725實時顯示\BSP\timer3.c

?????文件????????112??2017-06-22?20:15??STM32F407+OV7725實時顯示\BSP\timer3.h

?????文件???????5041??2017-06-13?18:04??STM32F407+OV7725實時顯示\BSP\usart.c

?????文件???????1384??2017-06-13?17:53??STM32F407+OV7725實時顯示\BSP\usart.h

?????文件?????704094??2016-08-19?11:38??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h

?????文件???????2233??2014-08-01?22:30??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h

?????文件??????36887??2014-08-04?20:07??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Release_Notes.html

?????文件??????25817??2014-08-02?00:12??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f401xx.s

?????文件??????29694??2014-08-02?00:12??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f40xx.s

?????文件??????29605??2014-08-02?00:12??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f40_41xxx.s

?????文件??????26517??2014-08-02?00:10??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f411xe.s

?????文件??????31054??2014-08-02?00:12??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f427x.s

?????文件??????30979??2014-08-02?00:12??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f427_437xx.s

?????文件??????31134??2014-08-02?00:12??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f429_439xx.s

?????文件??????47778??2016-08-19?11:39??STM32F407+OV7725實時顯示\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c

?????文件???????4676??2014-07-17?21:52??STM32F407+OV7725實時顯示\CMSIS\Include\arm_common_tables.h

?????文件???????3666??2014-07-17?21:52??STM32F407+OV7725實時顯示\CMSIS\Include\arm_const_structs.h

?????文件?????242444??2014-07-17?21:52??STM32F407+OV7725實時顯示\CMSIS\Include\arm_math.h

?????文件??????33042??2014-07-17?21:52??STM32F407+OV7725實時顯示\CMSIS\Include\core_cm0.h

?????文件??????40429??2014-07-17?21:52??STM32F407+OV7725實時顯示\CMSIS\Include\core_cm0plus.h

?????文件??????99832??2014-07-17?21:52??STM32F407+OV7725實時顯示\CMSIS\Include\core_cm3.h

?????文件?????109142??2014-07-17?21:52??STM32F407+OV7725實時顯示\CMSIS\Include\core_cm4.h

............此處省略211個文件信息