car.c

eaayarm101自制小车源代码 周立功公司原创

                MotorLeftDir(0);
            }

            //
            // If the delay is about to reach 0, start the left motor.
            //
            if(g_ucDelay == 1)
            {
                MotorLeftRun();
            }

            //
            // Done with this mode.
            //
            break;
        }

        //
        // The car is in diagnostic mode 5.
        //
        case MODE_DIAG5:
        {
            //
            // If the delay has reached 50ms, reverse the direction of the
            // right motor.
            //
            if(g_ucDelay == ((50 * SYSTICK_CLOCK) / 1000))
            {
                MotorRightDir(0);
            }

            //
            // If the delay is about to reach 0, start the right motor.
            //
            if(g_ucDelay == 1)
            {
                MotorRightRun();
            }

            //
            // Done with this mode.
            //
            break;
        }

        //
        // The car is in diagnostic mode 6.
        //
        case MODE_DIAG6:
        {
            //
            // If the delay has reached 50ms, set the direction of the left
            // motor to backward.
            //
            if(g_ucDelay == ((50 * SYSTICK_CLOCK) / 1000))
            {
                MotorLeftDir(0);
            }

            //
            // If the delay is about to reach 0, start the left motor.
            //
            if(g_ucDelay == 1)
            {
                MotorLeftRun();
            }

            //
            // Set the left and right motor speeds based on the value of sensor
            // zero.
            //
            MotorLeftSpeed((g_pusSamples[0] / 15) + 32);
            MotorRightSpeed((g_pusSamples[0] / 15) + 32);

            //
            // Done with this mode.
            //
            break;
        }

        //
        // The car is in diagnostic mode 7.
        //
        case MODE_DIAG7:
        {
            //
            // Set the left and right motor speeds based on the value of sensor
            // one.
            //
            MotorLeftSpeed((g_pusSamples[1] / 15) + 32);
            MotorRightSpeed((g_pusSamples[1] / 15) + 32);

            //
            // Done with this mode.
            //
            break;
        }

        //
        // The car is in diagnostic mode 8.
        //
        case MODE_DIAG8:
        {
            //
            // Set the left and right motor speeds based on the value of sensor
            // two.
            //
            MotorLeftSpeed((g_pusSamples[2] / 15) + 32);
            MotorRightSpeed((g_pusSamples[2] / 15) + 32);

            //
            // Done with this mode.
            //
            break;
        }

        //
        // Handle all other modes.
        //
        default:
        {
            //
            // There is nothing to be done for this mode.
            //
            break;
        }
    }

    //
    // Handle blinking the lights if in diagnostic mode to indicate the current
    // mode.
    //
    if((g_eMode >= MODE_DIAG2) && (g_eMode <= MODE_DIAG8))
    {
        //
        // See if the current time is divisible by a quarter second.
        //
        if(!(g_usCount % (SYSTICK_CLOCK / 2)))
        {
            //
            // If another blink is required to indicate the current mode, then
            // turn on the lights now.
            //
            if((g_usCount / (SYSTICK_CLOCK / 2)) <= (g_eMode - MODE_DIAG1))
            {
                //
                // Turn on the left head light when driving the left motor
                // forward, the left tail light when driving the left motor
                // backward, the right head light when driving the right motor
                // forward, the right tail light when driving the right motor
                // backward, and all lights in other modes.
                //
                if(g_eMode == MODE_DIAG2)
                {
                    LightsOff();
                    TailLightsOff();
                    LightLeftOn();
                }
                else if(g_eMode == MODE_DIAG3)
                {
                    LightLeftOff();
                    TailLightLeftOn();
                }
                else if(g_eMode == MODE_DIAG4)
                {
                    TailLightLeftOff();
                    LightRightOn();
                }
                else if(g_eMode == MODE_DIAG5)
                {
                    LightRightOff();
                    TailLightRightOn();
                }
                else
                {
                    LightsOn();
                    TailLightsOn();
                }
            }
        }

        //
        // See if the current time is divisible by an eighth second.
        //
        else if(!(g_usCount % (SYSTICK_CLOCK / 4)))
        {
            //
            // Turn off the lights now.
            //
            LightsOff();
            TailLightsOff();
        }

        //
        // Increment the count, wrapping back to zero two seconds after the
        // last flash of the lights.
        //
        g_usCount++;
        if(g_usCount == (((g_eMode - MODE_DIAG1) * (SYSTICK_CLOCK / 2)) +
                         (SYSTICK_CLOCK * 2)))
        {
            g_usCount = 0;
        }
    }

    //
    // Decrement the delay if it is not zero.
    //
    if(g_ucDelay)
    {
        g_ucDelay--;
    }
}

//*****************************************************************************
//
//! Handles the press of the push button.
//!
//! Handle the initial push button press, which typically means that the car
//! should be stopped if running.  When in diagnostic mode, this will advance
//! the car through the various steps of diagnostic mode.
//!
//! \return None.
//
//*****************************************************************************
void
CarStop(void)
{
    //
    // Determine what to do based on the current mode.
    //
    switch(g_eMode)
    {
        //
        // See if the car is running.
        //
        case MODE_IN_OPEN:
        case MODE_APPROACHING:
        case MODE_FOLLOWING:
        case MODE_TURN_LEFT:
        case MODE_TURN_RIGHT:
        case MODE_TURNING:
        case MODE_FORWARD:
        case MODE_RANDOM_LEFT:
        case MODE_RANDOM_RIGHT:
        case MODE_RANDOM_TURN:
        case MODE_RANDOM_FORWARD:
        {
            //
            // Indicate that the car is now stopping.  This is so that the
            // subsequent button relese does not cause the car to start running
            // again.
            //
            g_eMode = MODE_STOPPING;

            //
            // Stop the motors.
            //
            MotorLeftStop();
            MotorRightStop();

            //
            // Clear the internal state so the telemetry data looks clean.
            //
            g_usLeftSensor = INFINITY;
            g_sLeftDelta = 0;
            g_usRightSensor = INFINITY;
            g_sRightDelta = 0;
            g_usFrontSensor = INFINITY;
            g_sFrontDelta = 0;
            g_usMotorLeft = SPEED(0);
            g_usMotorRight = SPEED(0);

            //
            // Turn off the lights.
            //
            LightsOff();
            TailLightsOff();

            //
            // Done handling this mode.
            //
            break;
        }

        //
        // In diagnostic step 1.
        //
        case MODE_DIAG1:
        {
            //
            // Advance to diagnostic step 2.
            //
            g_eMode = MODE_DIAG2;

            //
            // Set the light count to zero.
            //
            g_usCount = 0;

            //
            // Make the left motor run half speed forward.
            //
            MotorLeftSpeed(50);
            MotorLeftDir(1);
            MotorLeftRun();

            //
            // Done handling this mode.
            //
            break;
        }

        //
        // In diagnostic step 2.
        //
        case MODE_DIAG2:
        {
            //
            // Advance to diagnostic step 3.
            //
            g_eMode = MODE_DIAG3;

            //
            // Set the light count to zero.
            //
            g_usCount = 0;

            //
            // Stop the left motor.
            //
            MotorLeftStop();

            //
            // Reverse the direction of the motor over the next 100ms.
            //
            g_ucDelay = (100 * SYSTICK_CLOCK) / 1000;

            //
            // Done handling this mode.
            //
            break;
        }

        //
        // In diagnostic step 3.
        //
        case MODE_DIAG3:
        {
            //
            // Advance to diagnostic step 4.
            //
            g_eMode = MODE_DIAG4;

            //
            // Set the light count to zero.
            //
            g_usCount = 0;

            //
            // Stop the left motor.
            //
            MotorLeftStop();

            //
            // Make the right motor run half speed forward.
            //
            MotorRightSpeed(50);
            MotorRightDir(1);
            MotorRightRun();

            //
            // Done handling this mode.
            //
            break;
        }

        //
        // In diagnostic step 4
        //
        case MODE_DIAG4:
        {
            //
            // Advance to diagnostic step 5.
            //
            g_eMode = MODE_DIAG5;

            //
            // Set the light