#include?“common.h“
#include?“include.h“
#include?
#include?
#include?“VCAN_camera.h“
#include?“motor.h“
#include?“steer.h“
?
/*!
?*??@brief??????main函數
?*??@since??????v5.0
?*??@note???????山外攝像頭?LCD?測試實驗
?*/
#define?chartonumber（x）?（x-‘0‘）


//搜索
int?flag2?=?0;
int?search（uint8*?imgint?stepint?xint?y）
???{
????int?i?=?0;
????for（i=0;i??????{
???????if（img[（x-i）*CAMERA_W+y]==1）
???????return?（x-i）;
???????}
????return?（x-step）;
????}


int?search2（uint8*?imgint?stepint?numberint?xint?y）
{
??int?l?=?0;
??int?r?=?0;
??int?i?=?0;
??for（i=1;i??{
????if（img[x*CAMERA_W+y+i]==1）?r++;
????if（img[x*CAMERA_W+y-i]==1）?l++;
??}
??if（（r-l）>=number）?return?-1;
??if（（l-r）>=number）?return?1;
??else?return?0;
??
}
void??main（void）
????{
??????motor_init（）;
??????steer_init（）;???
??????uart_init（UART1?115200）;
//????DELAY_MS（2000）;

????????
????
???//?pit_init_ms（PIT0?1000）;??
????????
????ov7725_eagle_init（imgbuff）;
????NVIC_init（）;
????
????
????//*****************中斷函數**************************
????PORTB_ISFR?=?~0;????????????????????????//寫1清中斷標志位（必須的，不然回導致一開中斷就馬上觸發中斷）
????enable_irq（PORTB_IRQn）;?
????uart_rx_irq_en?（UART1）;
????//**************************************************????
????PWMSetMotor2（7600??7600）;?????????//??（LEFTRIGHT）??到9600，1000>2000（驅動輸出pwm波反）??目前8500

????while（1）
????{
??????
?????????ov7725_eagle_get_img（）;//攝像頭獲取圖像
????????//?vcan_sendimg（imgbuff?sizeof（imgbuff））;
?????????img_extract（（uint8?*）?img?（uint8?*）?imgbuff?CAMERA_H*CAMERA_W/8）;
?????
?????????????
?????????//巡線算法
?????
??????????int?step=0;
??????????int?l_high?=?0;
??????????int?r_high?=?0;
??????????int?lr_step?=?20;
??????????int?up_step?=?25?+?CAMERA_H/2?-?1;
??????????int?midx?=?CAMERA_H-1;
??????????int?midy?=?CAMERA_W?/?2?;
??????????for（step=1;step		?l_high?+=?search（（uint8*）imgup_stepmidxmidy-step）;
		?r_high?+=?search（（uint8*）imgup_stepmidxmidy+step）;
??????????}
??????????int?flag?=?l_high?-?r_high;
??????????int?flag3?=?0;
??????????if（l_high>=79*（lr_step-1））
????????????flag3?=?1;?
??????????else
????????????flag3?=?0;
??????????if（flag<0）{
		?PWMSetSteer（820）;//左轉
?????????????????flag2?=?-1?;
??????????}
??????????else?if（flag>0）{
		?PWMSetSteer（720）;//右轉?
?????????????????flag2?=?1?;
??????????}
??????????else?if（l_high==r_high）
??????????{
????????????if（flag3==1）
????????????{
??????????????if（flag2==-1）{
?????????????????PWMSetSteer（840）;//左轉
??????????????}
??????????????if（flag2==1）{
?????????????????PWMSetSteer（700）;//右轉
??????????????}
????????????}
????????????else
????????????PWMSetSteer（776）;
??????????}
?????????????????
??????????
??????????
??????
?????????
???}

}

/*!
?*??@brief??????PORTA中斷服務函數
?*??@since??????v5.0
?*/
void?PORTB_IRQHandler（）
{
????uint8??n;????//引腳號
????uint32?flag;

????while（!PORTB_ISFR）;
????flag?=?PORTB

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-04-18?22:32??校賽\
?????目錄???????????0??2018-04-18?22:32??校賽\App\
?????目錄???????????0??2018-04-18?22:32??校賽\App\Inc\
?????文件????????4516??2017-12-26?19:02??校賽\App\Inc\MK60_conf.h
?????文件????????1033??2017-12-26?19:21??校賽\App\Inc\MK60_it.h
?????文件????????5997??2018-04-16?16:36??校賽\App\Inc\PORT_cfg.h
?????文件????????1547??2017-08-08?17:26??校賽\App\Inc\include.h
?????文件???????10172??2017-08-10?11:10??校賽\App\MK60_conf.c
?????文件?????????821??2017-12-28?21:57??校賽\App\MK60_it.c
?????文件????????3991??2018-04-18?22:32??校賽\App\main.c
?????文件??????????21??2017-08-08?16:15??校賽\App\main.h
?????文件????????2223??2018-01-08?19:15??校賽\App\motor.c
?????文件?????????985??2018-01-05?19:53??校賽\App\motor.h
?????文件????????1512??2018-04-11?16:31??校賽\App\steer.c
?????文件????????1056??2018-04-17?16:48??校賽\App\steer.h
?????目錄???????????0??2018-04-18?22:32??校賽\Board\
?????目錄???????????0??2018-04-18?22:32??校賽\Board\inc\
?????文件?????????661??2016-11-09?13:55??校賽\Board\inc\VCAN_ASCII.h
?????文件????????2805??2016-11-09?13:55??校賽\Board\inc\VCAN_BMP.h
?????文件????????5570??2016-11-09?13:55??校賽\Board\inc\VCAN_LCD.h
?????文件?????????965??2016-11-09?13:55??校賽\Board\inc\VCAN_LCD_CH.h
?????文件????????2099??2016-11-09?13:55??校賽\Board\inc\VCAN_LCD_ILI9325.h
?????文件????????2100??2016-11-09?13:55??校賽\Board\inc\VCAN_LCD_ILI9341.h
?????文件????????4390??2016-11-09?13:55??校賽\Board\inc\VCAN_LCD_ST7735R.h
?????文件????????4390??2016-11-09?13:55??校賽\Board\inc\VCAN_LCD_ST7735S.h
?????文件?????????962??2016-11-09?13:55??校賽\Board\inc\VCAN_LED.H
?????文件????????3445??2016-11-09?13:55??校賽\Board\inc\VCAN_MMA7455.h
?????文件????????1904??2016-11-09?13:55??校賽\Board\inc\VCAN_NRF24L0.h
?????文件????????2366??2016-11-09?13:55??校賽\Board\inc\VCAN_NRF24L0_MSG.h
?????文件????????2284??2018-03-14?19:29??校賽\Board\inc\VCAN_OV7725_Eagle.h
?????文件????????4718??2016-11-09?13:55??校賽\Board\inc\VCAN_OV7725_REG.h
............此處省略557個文件信息