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📄 main.c

📁 本文件用于智能云台电机控制和图像处理
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123 
							accDecCount=0;
							vaccDecFlag=NORMALMOTION;
							vPresetPosition=vPresetPosition-16;
						}
						else
						{
							vSoftTimer0=ACCTABLE[accDecCount]/250;
							++accDecCount;
						}				
						break;
					case NORMALMOTION:
						if(vPresetPosition!=vAbsolutionPosition)
						{
							if(currentCount==15)
								currentCount=0;
							else
								++currentCount;
							VMotorOut(SIN16[currentCount]) ;
							
							++vAbsolutionPosition;
							vSoftTimer0=-5;
							//	vSoftTimer0=ACCDEC[accDecCount];
						}
						else
							vaccDecFlag=DECELERATION;
						break;
						
					} 			
					break;
				}
			case -1:
				{
					switch(vaccDecFlag)
					{
					default :break;
					case PAUSE:
						if(!(vPauseTime--))
						{
							vaccDecFlag=ACCELERATION;
							if(vAbsolutionPosition==vPresetPosition1)
								vPresetPosition=vPresetPosition2;
							else
								vPresetPosition=vPresetPosition1;
							vOrientFlag=0;
						}
						break;
					case DECELERATION:
						if(currentCount==0)
							currentCount=15;
						else
							--currentCount;
						VMotorOut(SIN16[currentCount]) ;
						
						--vAbsolutionPosition;
						if(accDecCount==15)
						{
							vSoftTimer0=DECTABLE[accDecCount]/250;
							accDecCount=0;
							vaccDecFlag=PAUSE;
							vPauseTime=200;
							VMotorOut(SIN16[currentCount]) ;
							
						}
						else
						{
							++accDecCount;
							vSoftTimer0=DECTABLE[accDecCount]/250;
						}
						
						//	VMotorOut(SIN16[currentCount+1]) ;
						break;
					case ACCELERATION:
						if(currentCount==0)
							currentCount=15;
						else
							--currentCount;
						VMotorOut(SIN16[currentCount]) ;
						
						--vAbsolutionPosition;
						if(accDecCount==15)
						{
							vSoftTimer0=ACCTABLE[accDecCount]/250;
							accDecCount=0;
							vPresetPosition=vPresetPosition+16;
							vaccDecFlag=NORMALMOTION;
						}
						else
						{
							vSoftTimer0=ACCTABLE[accDecCount]/250;
							++accDecCount; 				
						}
						
						break;
					case NORMALMOTION:
						if(vPresetPosition!=vAbsolutionPosition)
						{
							if(currentCount==0)
								currentCount=15;
							else
								--currentCount;
							VMotorOut(SIN16[currentCount]) ;
							
							--vAbsolutionPosition;
							vSoftTimer0=-5;
							//	vSoftTimer0=ACCDEC[accDecCount];
						}
						else
							vaccDecFlag=DECELERATION;
						break;
						
					} 			
					break;
				}
		   }
		   
		   break;
	case MULMOTION  :
		if(!vOrientFlag)
		{
			if(vPresetPosition>vAbsolutionPosition)
				
				vOrientFlag=1;
			
			//	else	if(vPresetPosition==vAbsolutionPosition)  TR2=0;
			else 
				
				vOrientFlag=-1;
			
		}
		//
		switch(vOrientFlag)
		{
		default:break;
			
		case 1:
			{
				switch(vaccDecFlag)
				{
				default :break;
				case PAUSE:
					if(!(vPauseTime--))
					{
						vaccDecFlag=ACCELERATION;
						vOrientFlag=0;
						if( (vMulPointCount>=0)&&(vMulPointCount<=3))
						{
							vPresetPosition=VMulPoint[vMulPointCount];
							vMulPointCount++;
						}
						else	if( (vMulPointCount>=4)&&(vMulPointCount<=6))
						{
							vPresetPosition=VMulPoint[8-vMulPointCount];
							vMulPointCount++;
						}
						else 
						{
							vPresetPosition=VMulPoint[8-vMulPointCount];
							vMulPointCount=0;
						}
						
						
					}
					break;
				case DECELERATION:
					if(currentCount==15)
						currentCount=0;
					else
						++currentCount;
					VMotorOut(SIN16[currentCount]) ;
					
					++vAbsolutionPosition;
					if(accDecCount==15)
					{
						vSoftTimer0=DECTABLE[accDecCount]/250;
						accDecCount=0;
						vaccDecFlag=PAUSE;
						vPauseTime=50;
						VMotorOut(SIN16[currentCount]) ;
						
					}
					else
					{
						vSoftTimer0=DECTABLE[accDecCount]/250;
						++accDecCount;				
					}
					
					//	VMotorOut(SIN16[currentCount-1]) ;				
					break;
				case ACCELERATION:
					if(currentCount==15)
						currentCount=0;
					else
						++currentCount;
					VMotorOut(SIN16[currentCount]) ;
					
					++vAbsolutionPosition;
					if(accDecCount==15)
					{
						vSoftTimer0=ACCTABLE[accDecCount]/250;
						accDecCount=0;
						vaccDecFlag=NORMALMOTION;
						vPresetPosition=vPresetPosition-16;
					}
					else
					{
						vSoftTimer0=ACCTABLE[accDecCount]/250;
						++accDecCount;
					}				
					break;
				case NORMALMOTION:
					if(vPresetPosition!=vAbsolutionPosition)
					{
						if(currentCount==15)
							currentCount=0;
						else
							++currentCount;
						VMotorOut(SIN16[currentCount]) ;
						
						++vAbsolutionPosition;
						vSoftTimer0=-2000;
						//	vSoftTimer0=ACCDEC[accDecCount];
					}
					else
						vaccDecFlag=DECELERATION;
					break;
					
				} 			
				break;
			}
		case -1:
			{
				switch(vaccDecFlag)
				{
				default :break;
				case PAUSE:
					if(!(vPauseTime--))
					{
						vaccDecFlag=ACCELERATION;
						vOrientFlag=0;
						if( (vMulPointCount>=0)&&(vMulPointCount<=3))
						{
							vPresetPosition=VMulPoint[vMulPointCount];
							vMulPointCount++;
						}
						else	if( (vMulPointCount>=4)&&(vMulPointCount<=6))
						{
							vPresetPosition=VMulPoint[8-vMulPointCount];
							vMulPointCount++;
						}
						else 
						{
							vPresetPosition=VMulPoint[8-vMulPointCount];
							vMulPointCount=0;
						}
						
					}
					break;				
					
					
				case DECELERATION:
					if(currentCount==0)
						currentCount=15;
					else
						--currentCount;
					VMotorOut(SIN16[currentCount]) ;
					
					--vAbsolutionPosition;
					if(accDecCount==15)
					{
						vSoftTimer0=DECTABLE[accDecCount]/250;
						accDecCount=0;
						vaccDecFlag=PAUSE;
						vPauseTime=50;
						VMotorOut(SIN16[currentCount]) ;
						
					}
					else
					{
						++accDecCount;
						vSoftTimer0=DECTABLE[accDecCount]/250;
					}
					
					//	VMotorOut(SIN16[currentCount+1]) ;
					break;
				case ACCELERATION:
					if(currentCount==0)
						currentCount=15;
					else
						--currentCount;
					VMotorOut(SIN16[currentCount]) ;
					
					--vAbsolutionPosition;
					if(accDecCount==15)
					{
						vSoftTimer0=ACCTABLE[accDecCount]/250;
						accDecCount=0;
						vPresetPosition=vPresetPosition+16;
						vaccDecFlag=NORMALMOTION;
					}
					else
					{
						vSoftTimer0=ACCTABLE[accDecCount]/250;
						++accDecCount; 				
					}
					
					break;
				case NORMALMOTION:
					if(vPresetPosition!=vAbsolutionPosition)
					{
						if(currentCount==0)
							currentCount=15;
						else
							--currentCount;
						VMotorOut(SIN16[currentCount]) ;
						
						--vAbsolutionPosition;
						vSoftTimer0=-2000;
						//	vSoftTimer0=ACCDEC[accDecCount];
					}
					else
						vaccDecFlag=DECELERATION;
					break;
					
				} 			
				break;
			}
		   }
		   
		   break;
		 case SINGLEMOTION :
			 if(!vOrientFlag)
			 {
				 if(vPresetPosition>vAbsolutionPosition)
					 
					 vOrientFlag=1;
				 
				 else	if(vPresetPosition==vAbsolutionPosition)  TR2=0;
				 else 
					 
					 vOrientFlag=-1;
				 
			 }
			 //
			 switch(vOrientFlag)
			 {
			 default:break;
			 case 1:
				 {
					 switch(vaccDecFlag)
					 {
					 default :break;
					 case DECELERATION:
						 if(currentCount==15)
							 currentCount=0;
						 else
							 ++currentCount;
						 VMotorOut(SIN16[currentCount]) ;
						 
						 ++vAbsolutionPosition;
						 if(accDecCount==15)
						 {
							 vSoftTimer0=DECTABLE[accDecCount]/250;
							 accDecCount=0;
							 TR2=0;
							 vaccDecFlag=0;
							 vOrientFlag=0;
							 VMotorOut(SIN16[currentCount]) ;
						 }
						 else
						 {
							 vSoftTimer0=DECTABLE[accDecCount]/250;
							 ++accDecCount;				
						 }
						 
						 //	VMotorOut(SIN16[currentCount-1]) ;				
						 break;
					 case ACCELERATION:
						 if(currentCount==15)
							 currentCount=0;
						 else
							 ++currentCount;
						 VMotorOut(SIN16[currentCount]) ;
						 
						 ++vAbsolutionPosition;
						 if(accDecCount==15)
						 {
							 vSoftTimer0=ACCTABLE[accDecCount]/250;
							 accDecCount=0;
							 vaccDecFlag=NORMALMOTION;
							 vPresetPosition=vPresetPosition-16;
						 }
						 else
						 {
							 vSoftTimer0=ACCTABLE[accDecCount]/250;
							 ++accDecCount;
						 }				
						 break;
					 case NORMALMOTION:
						 if(vPresetPosition!=vAbsolutionPosition)
						 {
							 if(currentCount==15)
								 currentCount=0;
							 else
								 ++currentCount;
							 VMotorOut(SIN16[currentCount]) ;
							 
							 ++vAbsolutionPosition;
							 vSoftTimer0=-2000;
							 //	vSoftTimer0=ACCDEC[accDecCount];
						 }
						 else
							 vaccDecFlag=DECELERATION;
						 break;
						 
					 } 			
					 break;
				 }
			 case -1:
				 {
					 switch(vaccDecFlag)
					 {
					 default :break;
					 case DECELERATION:
						 if(currentCount==0)
							 currentCount=15;
						 else
							 --currentCount;
						 VMotorOut(SIN16[currentCount]) ;
						 
						 --vAbsolutionPosition;
						 if(accDecCount==15)
						 {
							 vSoftTimer0=DECTABLE[accDecCount]/250;
							 accDecCount=0;
							 TR2=0;
							 vaccDecFlag=0;
							 vOrientFlag=0;
							 VMotorOut(SIN16[currentCount]) ;
						 }
						 else
						 {
							 ++accDecCount;
							 vSoftTimer0=DECTABLE[accDecCount]/250;
						 }
						 
						 //	VMotorOut(SIN16[currentCount+1]) ;
						 break;
					 case ACCELERATION:
						 if(currentCount==0)
							 currentCount=15;
						 else
							 --currentCount;
						 VMotorOut(SIN16[currentCount]) ;
						 
						 --vAbsolutionPosition;
						 if(accDecCount==15)
						 {
							 vSoftTimer0=ACCTABLE[accDecCount]/250;
							 accDecCount=0;
							 vPresetPosition=vPresetPosition+16;
							 vaccDecFlag=NORMALMOTION;
						 }
						 else
						 {
							 vSoftTimer0=ACCTABLE[accDecCount]/250;
							 ++accDecCount; 				
						 }
						 
						 break;
					 case NORMALMOTION:
						 if(vPresetPosition!=vAbsolutionPosition)
						 {
							 if(currentCount==0)
								 currentCount=15;
							 else
								 --currentCount;
							 VMotorOut(SIN16[currentCount]) ;
							 
							 --vAbsolutionPosition;
							 vSoftTimer0=-2000;
							 //	vSoftTimer0=ACCDEC[accDecCount];
						 }
						 else
							 vaccDecFlag=DECELERATION;
						 break;
						 
					 } 			
					 break;
				 }
		   }
		   
		   break;
		 case STOPROTATION :
			 switch(vOrientFlag)
			 {
			 default :break;
			 case 1:
				 //	   case DECELERATION:
				 if(currentCount==15)
					 currentCount=0;
				 else
					 ++currentCount;
				 VMotorOut(SIN16[currentCount]) ;
				 
				 ++vAbsolutionPosition;
				 if(accDecCount==15)
				 {
					 vSoftTimer0=DECTABLE[accDecCount]/250;
					 accDecCount=0;
					 TR2=0;
					 vaccDecFlag=0;
					 vOrientFlag=0;
					 VMotorOut(SIN16[currentCount]) ;
				 }
				 else
				 {
					 vSoftTimer0=DECTABLE[accDecCount]/250;
					 ++accDecCount;				
				 }
				 
				 //	VMotorOut(SIN16[currentCount-1]) ;				
				 break;
				 
			 case -1:
				 //  case DECELERATION:
				 if(currentCount==0)
					 currentCount=15;
				 else
					 --currentCount;
				 VMotorOut(SIN16[currentCount]) ;
				 
				 --vAbsolutionPosition;
				 if(accDecCount==15)
				 {
					 vSoftTimer0=DECTABLE[accDecCount]/250;
					 accDecCount=0;
					 TR2=0;
					 vaccDecFlag=0;
					 vOrientFlag=0;
					 VMotorOut(SIN16[currentCount]) ;
				 }
				 else
				 {
					 ++accDecCount;
					 vSoftTimer0=DECTABLE[accDecCount]/250;
				 }
				 
				 //	VMotorOut(SIN16[currentCount+1]) ;
				 break;
			 }
			 
			 break;
		}
		}
	
	}


		
void horizonalmotor(void) interrupt TF2_VECTOR
{
	static 	unsigned char currentCount=0;
	static 	unsigned char accDecCount=0;
	
	TF2=0;
	
	switch(hRotationManner)
	{
	default:break;
	case FREEMOTION:
		{
			switch(hOrientFlag)
			{
			default:break;
			case 1:
				{
					switch(haccDecFlag)
					{
					default :break;
					case ACCELERATION:
						if(currentCount==15)
							currentCount=0;
						else
							++currentCount;
						HMotorOut(SIN16[currentCount]) ;
						if(hAbsolutionPosition==3999)
							hAbsolutionPosition=0;
						else
							++hAbsolutionPosition;
						if(accDecCount==15)
						{
							RCAPT2=ACCTABLE[accDecCount];
							accDecCount=0;
							haccDecFlag=NORMALMOTION;
						}
						else
						{
							RCAPT2=ACCTABLE[accDecCount];
							++accDecCount;
						}				
						break;
					case NORMALMOTION:
						if(currentCount==15)
							currentCount=0;
						else
							++currentCount;
						HMotorOut(SIN16[currentCount]) ;
						if(hAbsolutionPosition==3999)
							hAbsolutionPosition=0;
						else
							++hAbsolutionPosition;
						RCAPT2=-2000;
						//	RCAPT2=ACCDEC[accDecCount];
						break;
						
					} 			
					break;
				}
			case -1:
				{
					switch(haccDecFlag)
					{
					default :break;
					case ACCELERATION:
						if(currentCount==0)
							currentCount=15;
						else
							--currentCount;
						HMotorOut(SIN16[currentCount]) ;
						if(hAbsolutionPosition==0)
							hAbsolutionPosition=3999;
						else
							--hAbsolutionPosition;
						if(accDecCount==15)
						{
							RCAPT2=ACCTABLE[accDecCount];
							accDecCount=0;
							haccDecFlag=NORMALMOTION;
						}
						else
						{
							RCAPT2=ACCTABLE[accDecCount];
							++accDecCount; 				
						}
						
						break;
					case NORMALMOTION:
						if(currentCount==0)
							currentCount=15;
						else
							--currentCount;
						HMotorOut(SIN16[currentCount]) ;
						if(hAbsolutionPosition==0)
							hAbsolutionPosition=3999;
						else
							--hAbsolutionPosition;
						RCAPT2=-2000;
						//	RCAPT2=ACCDEC[accDecCount];
						break;
						
					} 			
					break;
				}
			}
			break;
		}

		case DOUBLEMOTION  :
		if(!hOrientFlag)
		{
			if(hPresetPosition>hAbsolutionPosition)
			{
				if((hPresetPosition-hAbsolutionPosition)<2000)
					hOrientFlag=1;
				else 
					hOrientFlag=-1;
			}
123

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