main.c

第三届飞思卡尔智能车竞赛华东赛一等奖的程序

#include "main.h" 

int k2,speed_plus;
extern int cross_start_cnt,start_cnt,L_speed,O_speed,I_dest_speed,head,tail,fhead,img1_ready,RT_angle,RT_speed;  
extern char img1[DOT*LINE],path[LINE];


void Global_Init(void)
{
//****************************PWM模块全局初始化
  PWMPRCLK=0x00;//CLOCKA=CLOCKB=24M
  PWMCTL=0x30;  //PWM01,PWM23连接成16位PWM
  PWMSCLA=60;   //clock SA:24M/(2*60)=200kHz
  PWMSCLB=6;    //clock SB:24M/(2*6)=2MHz
//*****************************定时器模块全局初始化
  
  TSCR1=0x80;   //定时器使能
  TSCR2=0x86;   //TCNT溢出中断允许，定时器64分频
}

void main_init(void)
{


  DDRM=0XFF;
  DDRH=0X00;
  angle_ref=300;
  speed_ref=100;  //Max=1000
  Init_server();
  Init_Motor();
  CCD_Init();
  Spd_Init();
 
  
//#####################################################   拨码盘设置
   
  if(PTIH==0x80)
  {
    L_speed=220;I_dest_speed=200;O_speed=175;k2=10;speed_plus=0;start_cnt=2;
  }
  else if(PTIH==0x40)
  {
    L_speed=200;I_dest_speed=185; O_speed=175;k2=11;speed_plus=0;start_cnt=2;
  }
  else if(PTIH==0x20)
  {
    L_speed=180;I_dest_speed=165; O_speed=160;k2=12;speed_plus=0;start_cnt=2;
  }
  
  else if(PTIH==0x10)
  {
    L_speed=250;I_dest_speed=200; O_speed=170;k2=9;speed_plus=0;start_cnt=3; 
  }
  else if(PTIH==0x08)
  {
    L_speed=240;I_dest_speed=195; O_speed=175;k2=9;speed_plus=0;start_cnt=3;
  }
  else if(PTIH==0x04)
  {
    L_speed=260;I_dest_speed=200; O_speed=165;k2=9;speed_plus=0;start_cnt=3; 
  }
  else if(PTIH==0x02)
  {
    L_speed=220;I_dest_speed=200;O_speed=175;k2=10;speed_plus=20;start_cnt=3;
  }
  else if(PTIH==0x01)
  {
    L_speed=220;I_dest_speed=195;O_speed=175;k2=10;speed_plus=0;start_cnt=3;
  }
  else if(PTIH==0xFF)
  {
    L_speed=180;I_dest_speed=160; O_speed=150;k2=12;speed_plus=0;start_cnt=3;
  }
  else
  {
    L_speed=200;I_dest_speed=185; O_speed=175;k2=11;speed_plus=0;start_cnt=3;
  }
//##################################################################  
  
} 


void main(void)
{     int i;                                     
  PORTB=0x00;
  Global_Init();
  main_init();
  EnableInterrupts;
  
  while(1)
  {  
    // print_int(L_speed) ;
     //PWMDTY01=angle_ref; 
      
      /* 
      while(img1_ready==0) ;
       DisableInterrupts;
     if(inch()=='+') 
  {
            for(i=head;i<=tail;i++)
            {
             print_int(path[i]);
             outch(' ');
            } 
    outch('\r');
    outch('\n'); 
   }else 
    
     if(inch()=='R'){
    
      for(i=0;i<LINE*DOT;i++)
             {
              
              outch(img1[i]) ;
             // outch(' ');
             }
   }    
          
         EnableInterrupts;*/ 

    // print_int(RT_angle) ;
     // outch(' ');

  //  print_int(RT_speed) ;
  //   outch(' ');
 CCD_process();
     
  }
  
  
}

interrupt void default_null(void)
{
       return;
	
}