control.h

飞思卡尔智能汽车控制程序框架

//------------------------------------------------------------------------------ 
void angle()
{  
    uchar i,max;
    max=0;
    for(i=1;i<15;i++)
      if(sam_atd_g[i]>sam_atd_g[max]) max=i;     
    car_angle=10000-(max-7)*214;  
    
    if(sam_atd_g[max]<40)   lost_count++;
    
}                                 

//------------------------------------------------------------------------------                                                   
void speed(void)
{   
   uchar idear_speed=7;
   if(lost_count>=10000)  {PWMDTY67=0;while(1);} 
   if(idear_speed>pulse)  car_speed=6000;
   else                   car_speed=0;
   
}
//------------------------------------------------------------------------------ 
void driver()
{

   PWMDTY45=car_angle;
   
   
   if(car_speed>0)
   {
      PWMDTY67 =car_speed;
      PWMDTY23 = 0;
   } 
   else
   {
      PWMDTY67 =0;
      PWMDTY23 =car_speed;
   }


}
//------------------------------------------------------------------------------