smartcar.h

基于摄像头的巡线小车的源代码

/********************************************************\
Declaration of Valuebales
\********************************************************/

//缓存大小
#define row_max  36  //40行
#define col_max  90  //90列
//PINGPONG参数
#define PING 1
#define PONG 0 
//舵机参数
#define SERVO_LEFT    8470	
#define SERVO_CENTER  7300   
#define SERVO_RIGHT   6300
//PID系数
#define KP 10;
#define KI 0
#define KD 5;

#define KP_w  10
#define KD_w  20
#define KI_w  0

#define valve 25
#define VIDEO_LEFT 7
#define VIDEO_CENTER 53
#define VIDEO_RIGHT 88	

//#define top 3

/********************************************************\
Define variables
\********************************************************/

byte W_or_N=0;  //宽窄道区别 wide or narrow of the road 
                //  0 is wide, 1 is narrow
 
byte startline;

byte PingOrPong; //PING =1 ,PONG =0

byte onSamplenum;
byte startflag;
byte feng;

//舵机PID算法变量
signed char curve;
signed char last_curve;
signed char AngleWay;
word servoOUT;

// variables below are used in speed measure
word cur_speed;  // current speed
word last_speed; // used to save data in PA process
word speed;      // used to set PWM value
//byte counter=0;  // temporary counter in Speed detect


//数据矩阵
byte ImagePing[row_max][col_max];
byte ImagePong[row_max][col_max]; //ping pong双缓存，大小30*90
byte GuideLine[row_max];           //中线位置存储
byte *ImageReady;

//引导线提取
byte line_left;    //黑线左
byte line_right;   //黑线右
char line_width;   //线宽

//图象处理
byte err_line[row_max];     //错误行数  0=无错，1=有错
byte abandon;      //本场图象是否无效 0=有效；1=无效
byte top;
byte s1,s2;
signed char errWay,errWay1,errWay2;

//sci
byte hang;
byte lie;

//常用变量 
byte x,y,z,accumu=0; 

/********************************************************\
Declaration of Functions
\********************************************************/

void Delay (dword delaytime);

void Overall_ini (void);

void Set_PLL (void);

void PWM_ini (void);

void SCI_ini (void);

void Capture_ini (void);

void ADC_ini(void);

void Image_ini (void);

void CCD_get (void);

byte Get_line (void);

void DealNearLine(byte LineNum);

void DealFarLine(byte LineNum);

void Get_speed (void);

void PWM_PID_servo(void);

void Speed_feedback_ctl(void);

//void Start_Switch(void);

void Sci_Send(byte onsend);

void put_char(byte *p,byte n);

void send_image(void);

byte absl(signed char number);