fuzzy.c

使用MCU实现模糊算法

#define VEL_VSLOW	0x00
#define VEL_SLOW	0x01
#define VEL_MEDIUM	0x02
#define VEL_FAST	0x04
#define VEL_VFAST   0x08

#define DIST_VCLOSE	0x10
#define DIST_CLOSE	0x20
#define DIST_NEAR	0x40
#define DIST_FAR	0x80

#define BRAKE_NONE	0x00
#define BRAKE_LIGHT	0x50
#define BRAKE_MEDIUM  0xa0
#define BREKE_HARD	0xc0
#define BRAKE_VHARD 0xff
typedef struct{
	unsigned char Speed;
	unsigned char Distance;
	unsigned char Out;
}FUZZYLOGIC;
const FUZZYLOGIC FuzzyTable[20]={
	VEL_VSLOW,	DIST_VCLOSE,	BRAKE_LIGHT,
	VEL_VSLOW,	DIST_CLOSE,		BRAKE_NONE,
	VEL_VSLOW,	DIST_NEAR,		BRAKE_NONE,
	VEL_VSLOW,	DIST_FAR,		BRAKE_NONE,
	
	VEL_SLOW,	DIST_VCLOSE,	BRAKE_MEDIUM,
	VEL_SLOW,	DIST_CLOSE,		BRAKE_LIGHT,
	VEL_SLOW,	DIST_NEAR,		BRAKE_NONE,
	VEL_SLOW,	DIST_FAR,		BRAKE_NONE,
	
	VEL_MEDIUM,	DIST_VCLOSE,	BRAKE_HARD,
	VEL_MEDIUM,	DIST_CLOSE,		BRAKE_HARD,
	VEL_MEDIUM,	DIST_NEAR,		BRAKE_MEDIUM,
	VEL_MEDIUM,	DIST_FAR,		BRAKE_LIGHT,
	
	VEL_FAST,	DIST_VCLOSE,	BRAKE_VHARD,
	VEL_FAST,	DIST_CLOSE,		BRAKE_VHARD,
	VEL_FAST,	DIST_NEAR,		BRAKE_HARD,
	VEL_FAST,	DIST_FAR,		BRAKE_MEDIUM,
	
	VEL_VFAST,	DIST_VCLOSE,	BRAKE_VHARD,
	VEL_VFAST,	DIST_CLOSE,		BRAKE_VHARD,
	VEL_VFAST,	DIST_NEAR,		BRAKE_HARD,
	VEL_VFAST,	DIST_FAR,		BRAKE_MEDIUM
};
FUZZYLOGIC Fuzzy;
void main(void)
{
	HardInit();
	SoftInit();
	while(1){
		SystemHandle();
		if(Timer1SFlag){
			Timer1SFlag=0;
			Fuzzy.Speed=SpeedSamle();
			Fuzzy.Distance=DistanceSample();
			Fuzzy.Speed=Fuzzy.Speed/25;
			Fuzzy.Distance=Fuzzy.Distance/50;
			for(uc0=0;uc0<20;uc0++){
				if(Fuzzy.Speed!=FuzzyTable[uc0].Speed) 		 continue;
				if(Fuzzy.Distance!=FuzzyTable[uc0].Distance) continue;
				Output=FuzzyTable[uc0].Out;
				break;
			}
		}
		switch(State){
			case 0: 
				break;
			case 1:
				break;
			default:break;
		}
	}
}