globe.c

Freescale 智能车竞赛代码

#include "BaseInc.h"

//================CCD image part=================
int m_cRowNum;
int m_cCCDRowNum;
char m_cSampNum;
uchar m_aImage[CCD_ROWS][CCD_COLS];
uchar  m_cFrameSampeFlag;
char m_cFrameCompleteFlag;
uchar m_cCCDFrameShiftFlag;
char m_cFrameSyncFlag;
int m_cMuxPulseCnt;


char m_aLineDot[CCD_ROWS-2];
_RoadParam m_aRoadParam;
uchar m_cRoadLenth[CCD_COLS];
char m_cValidParamNum;
char m_cValidParamStart;
PreviousParam  previousparam;
/*
char m_aStraightFuzzyList[PARAM_X][PARAM_K] =   //直道的模糊控制表
{											 //K>0时，向左转，对应表值>0
  {
    -3,-3,-2,-2,-1, 0, 1					 //X = -2
  },
  {
    -2,-1,-1,-1, 0, 1, 1					 //X = -1
  },
  {
    -2,-1, 0, 0, 0, 1, 2					 //X = 0
  },
  {
    -1,-1, 0, 1, 1, 1, 2					 //X = 1
  },
  {
    -1, 0, 1, 2, 2, 3, 3					 //X = 2
  }
    
};
*/

char m_aStraightFuzzyList[STRAIGHT_LIST_X][STRAIGHT_LIST_K] =   //直道的模糊控制表
{											 //K>0时，向右转，对应表值<0
                       //X>0时, 向右转，对应表值<0 
  {//K=-2  -1  0  1  2
    3, 2, 1, 0,  -1					 //X = -2
  },
  {
    3, 2, 1, 0,  -2 					 //X = -1
  },
  {
     2, 1, 0, -1, -3					 //X = 0
  },
  {
     1, 0, -1, -3, -4					 //X = 1
  },
  {
     -1, -2, -3, -4, -4					 //X = 2
  }
    
};


char m_aRightBendFuzzyList[RIGHT_LIST_X][RIGHT_LIST_K] = 		 //右弯道的模糊控制表
{
  {//K=-2  -1  0  1  2
     3, 2, 1,  0, -1					 //X = -2
  },
  {
     2, 2, 1,  0, -2					 //X = -1
  },
  {
     2, 1, 0, -1, -2					 //X = 0
  },
  {
     1, 0, -1,-2,-3					 //X = 1
  },
  {
     -1, -2, -3, -4,-4					 //X = 2
  }
};
char m_aLeftBendFuzzyList[LEFT_LIST_X][LEFT_LIST_K] = 		 //左弯道的模糊控制表
{
  {//K=-2  -1  0  1  2
     4, 4, 3,  2, 1					 //X = -2
  },
  {
     4, 3, 2, 1, 0					 //X = -1
  },
  {
     3, 2, 1, 0, -1					 //X = 0
  },
  {
     2, 1, 0, -1, -1					 //X = 1
  },
  {
     1, 0, -1, -2, -3					 //X = 2
  }
};

 char chTemp1[CCD_COLS-2];
 char chTemp2[CCD_COLS-3];
 char m_Temp; 
char m_flag;
//================PID part================
uint m_nUo;
PID  sPID;

uint m_nCnt;
uint m_nCnt2;