ir.h

足球机器人自动程序

#define IR_N 12

const double ir1[] = {
2.4,
2,
1.6,
1.383,
1.2,
0.973,
0.8,
0.764,
0.626,
0.539,
0.475,
0.429
};

const double ir2[] = {
10.31,
12.63,
16.64,
20,
23.75,
30,
37.95,
40,
50,
60,
70,
80
};

inline double ir_measure(double x) {

	x *= 2.5;
	x /= 4095;

	if (x > ir1[0]) {
		return 10;
	}
	else if (x <= ir1[IR_N-1]) {
		return 80;
	}

	int i;
	for (i=1; i<IR_N; ++i) {
		if (x > ir1[i]) break;
	}

	return (ir2[i-1] - ir2[i]) / (ir1[i-1] -ir1[i]) * (x - ir1[i]) + ir2[i];
}