main.c

第三届飞思卡尔杯智能汽车大赛全国二等奖源程序有兴趣的下载来看看。

#include <hidef.h>      /* common defines and macros */
#include <mc9s12dg128.h>     /* derivative information */  
//#include <ansli.lib>   
#include <MATH.H>                            /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12dg128b" 

/**************************7.10程序使用数组变量*********************/
double err1[12]= {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
unsigned char err2[20]= {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
unsigned char err3[20]= {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
//
unsigned char xiapo = 0;
float repair = 0;
unsigned char checkline = 0;
unsigned char same = 0;
unsigned char jiasu = 0;
unsigned char shizi = 0; 
unsigned char startline = 0;
unsigned char flag = 0;
int baichi = 0;
double ferr;
float BC = 0; 
int TopSpeed = 320;
int LowSpeed = 160;
float SpeedSet=0;
signed int PWM23SET;
signed int PWM67SET;
int boma;
int samecount=0;
unsigned char errNUM = 0;
unsigned char DerrNUM= 0;
unsigned char start = 0;
//
 unsigned char Sflag=0;
 unsigned char state2=0;
 unsigned char state=1;  
 unsigned char state3=0; 
 unsigned char lukuang = 0;      
 word Mdc_count=0;    //中断次数
 word SetPluse;
 unsigned char pulse = 0; //一次检测周期获得的脉冲数
 int speed_average;     //平均速度
 int speed_wink;  //瞬时速度
 float Ps=1.37;
 double err=0;               //位置偏移
 double derr=0;               //位置偏移变化增量
 double lasterr=0;               //上次位置偏移
 double G_pluse;           //给定转角对应脉冲
 /************************************************************************
计算速度和平均速度
函数名；speed_account
功能：计算小车的瞬时速度和平均速度
输入参数：无                                     
输出参数