📄 [原创]循线算法原理与实践.htm
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<BR>* 说明： 该函数放在定时器或者主循环里面用于产生软PWM*
<BR>********************************************************/
<BR>void SpeedPWM(char PWMLine) <BR>{
<BR> char PWMLine_L = PWMLine;
<BR>char PWMLine_R = PWMLine;
<BR>static char PWMCount_L = 0;
<BR>static char PWMCount_R = 0;
<BR><BR>char Temp = 0;
<BR><BR>if (FollowLineEnable == True) <BR>{
<BR> Temp = (char)fabs((float)CG_X);
<BR> if (AdcValueFlag == 0)
<BR> {
<BR> Temp = 0;
<BR> } <BR> else <BR> {
<BR> if (CG_X <0)
<BR> {
<BR> if ((Temp<<4) <= PWMLine_R)
<BR> {
<BR> PWMLine_R -= ((Temp<<5)+Temp<<2);
<BR> } <BR> else
<BR> {
<BR> PWMLine_R = 0;
<BR> } <BR> }
<BR> else <BR> {
<BR> if ((Temp<<4) <= PWMLine_L)
<BR> {
<BR> PWMLine_L -= (Temp<<5);
<BR> } <BR> else
<BR> {
<BR> PWMLine_L = 0;
<BR> } <BR> } <BR> }
<BR>} <BR><BR>PWMCount_L ++; <BR>PWMCount_R ++;
<BR>if (PWMCount_L > Fastest) <BR>{
<BR> PWMCount_L = Stop; <BR>}
<BR>if (PWMCount_R > Fastest) <BR>{
<BR> PWMCount_R = Stop; <BR>}
<BR><BR>if (PWMCount_L < PWMLine_L) <BR>{
<BR> switch (GoDirection)
<BR> {
<BR> case Front:
<BR> Motor_Left_GoFront;
<BR> break;
<BR> case Back:
<BR> Motor_Left_GoBack;
<BR> break;
<BR> case Left:
<BR> Motor_Left_GoFront;
<BR> break;
<BR> case Right:
<BR> Motor_Left_GoBack;
<BR> break;
<BR> case Stop:
<BR> Motor_Left_Stop_Free;
<BR> break;
<BR> } <BR>} <BR>else <BR>{
<BR> Motor_Left_Stop_Free; <BR>}
<BR><BR>if (PWMCount_R < PWMLine_R) <BR>{
<BR> switch (GoDirection)
<BR> {
<BR> case Front:
<BR> Motor_Right_GoFront;
<BR> break;
<BR> case Back:
<BR> Motor_Right_GoBack;
<BR> break;
<BR> case Left:
<BR> Motor_Right_GoBack;
<BR> break;
<BR> case Right:
<BR> Motor_Right_GoFront;
<BR> break;
<BR> case Stop:
<BR> Motor_Right_Stop_Free;
<BR> break;
<BR> } <BR>} <BR>else <BR>{
<BR> Motor_Right_Stop_Free; <BR>} <BR>}
<BR><BR><BR>/********************************************************
<BR>* 函数说明：获取偏离轨迹线的数值 *
<BR>* 输入： 表明寻线状态的字节 *
<BR>* [说明] *
<BR>* 通过类质心算法获取当前机器人偏离轨迹线的量 *
<BR>* - 表示偏左 + 表示偏右 *
<BR>********************************************************/
<BR>signed char GetCG_X(unsigned char AdcValues) <BR>{
<BR>signed char a = 0;
<BR>signed char Temp = 0;
<BR>signed char Totals = 0;
<BR>for (a = 0;a<8;a++) <BR>{
<BR> if ((AdcValues <<a)>>7)
<BR> {
<BR> Temp += ((-7)+ (a<<1));
<BR> Totals++; <BR> } <BR>}
<BR><BR>if (Totals ==0) <BR>{
<BR> return 0; <BR>}
<BR><BR> return (Temp / Totals);
<BR>} <BR><BR>函数调用GetCG_X函数，用来获取CG_X，CG_X直接在PWM输出函数里面指导机器人的运动。
<BR><BR>以上方法的好处是，提供了一个比例调节循线动作的可能。支持多传感器的情况，尤其适合线性CCD类的线性数据的处理。为机器人提供了一个相对完整的视觉，不可能出现无法识别的情况，而且，这种情况可以使机器人在不加修改程序的情况下直接在在白线循线和黑线循线状态下切换。
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