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飞思卡尔智能车 智能车源代码光电组(有注解)

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智能车源代码光电组(有注解)

#include /* common defines and macros */

#include /* derivative information */

#include "math.h"

#include "PWM.h"

#include "A TD.h"

#include "LQprintp.h"

#pragma LINK_INFO DERIV A TIVE "mc9s12dg256b"

unsigned int i = 0;

unsigned int j = 0;

unsigned int t = 0;

byte ad_value[13];

uchar data[13];

int sum = 0;

uchar start_flag = 0;

uchar num = 0;

uchar lw=0;

unsigned int per = 65530;

int SPWM = 0;

int L_SPWM = 0;

unsigned int SPmax = 1000;

int MPWM = 0;

uchar current_corrd = 0;

static unsigned int mem_num = 0;

//***********************PID**************** ***************

static unsigned int Kp=25;

static unsigned int Kp2=60;

static unsigned int Ki=9;

static unsigned int Kd=30;

static unsigned int rKp=100;

static unsigned int rKp2=60;

static unsigned int rKi=0;

static unsigned int rKd=60;

unsigned short E = 5;

unsigned char q = 1;

int Mp = 0;

int Mi = 0;

int Md = 0;

int Mp2 = 0;

int P_Speed = 0;

int L_u[3];

//****************************************** ****************

//***********************舵机PID变量**********************

static unsigned int s_sKp=35; //直道PID的P值

static unsigned int s_sKp2=0; //直道PID 的二阶P值

static unsigned int s_sKi=0; //直道PID的I值static unsigned int s_sKd=10; //直道PID的D值

//****用于防止PID溢出******

unsigned short s_sE = 5;

unsigned char s_sq = 1;

//*************************

//****分别存放P I D 值*****

int s_sMp = 0;

int s_sMi = 0;

int s_sMd = 0;

int s_sMp2 = 0;

//*************************

int sL_u[3]; //存放前3次理论速度与实际速度的差值

int last_corrd[3][10] ={{0, 0, 0, 0, 0, 0, 0, 0, 0, 0},

{0, 0, 0, 0, 0, 0, 0, 0, 0, 0},

{0, 0, 0, 0, 0, 0, 0, 0, 0, 0}};

//****************************************** ***************

//*********************PID调试中断**************************

unsigned char cp = 0;

unsigned char ci = 0;

unsigned char cd = 0;

unsigned int search_PACN10;

unsigned int np = 0;

unsigned int sp[500];

//****************************************** ****************

//*********************存储前20点的数据*********************

int L_num[10] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

int sum_corrd = 0;

int wb = 0; //记录当前状态黑为0，白为1；

//****************************************** ****************

//********************红外滤波*****************************

int corrd[10] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

int T_corrd = 0;

int is_white = 0;

int numb = 0;

//****************************************** ****************

//***********************数据统计***************************

int corrd_sate[23] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

int SPWM_sate[15] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

int MPWM_sate[11] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; uchar corrd_time[512];