基于路径记忆的最佳赛车控制算法程序

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1、基于路径记忆的最佳赛车控制算法程序#include"stdinc.h"#include"utility.h"#include"EEPROM.h"#include"ADConv.h"#include"PAC.h"#include"adapter_C_CPP.h"#include"PID.h"#include"Sci.h"#include"rule_table.h"#include"trash.h"#include"operation.h"#include"course.h"#include"widget.h"#definePixel_Num6#defineLine_Num50xuint16L

2、ine_Sample_Interval=5;xuint16Start_Of_Frame=30;xuint16End_Of_Frame=0;#definePULSE_CNT750//xuint16speedPulse[PULSE_CNT];xuint16Frame_Data[Line_Num][Pixel_Num];xuint8Frame_OddEven=0;xint16Frame_Data_Processed[Line_Num][2];//xuint8f[6];xuint16frame_num=PULSE_CNT;xint16position_temp[PULSE_CNT];//xint1

3、6rudder_temp[PULSE_CNT];xint16curve_temp[PULSE_CNT];xuint8line_num=0,pixel_num=0;voidsystem_init(void);voidauto_ctrl(void);voidframe_data_process(void);voidroute_opti(xint16);voidSet_Rudder(xint16Position);xint16get_curve(void);voidSet_Speed(xuint16curve);//PIDPIDg_speedPID;PIDg_rudderPID;//course

4、externvoidtimer_interrupt(void);voidsystem_init(void);route_statusRoute_Status;//--Programentry-------------------------------------------------------------voidmain(void){xuint16delay;xuint8i,j;system_init();wait_until_button_up(0);Frame_OddEven=PORTA_BIT0;while(Frame_OddEven==PORTA_BIT0);Frame_Od

5、dEven=PORTA_BIT0;EnableInterrupts;//wait_until_button_up(1);while(frame_num

6、

7、1){}DisableInterrupts;g_motor_set_status(FAST_STOP);//g_motor_set_status(REVERSE);g_motor_set_speed(255);wait_until_button_up(0);while(1){}}//--FunctionImplementation---------------------------------------------------void

8、actuate_speed_PID(xint16speed){//xint16disableThresh=70;//xint16highThresh=25;//xint16lowThresh=5;xint16PWMout=PIDCalc(&g_speedPID,speed);if(PWMout>0){g_motor_set_status(FORWARD);g_motor_set_speed(PWMout);}elseif(PWMout<=0){//g_motor_set_status(REVERSE);if(PWMout>-50){g_motor_set_speed(-PWMout);g_

9、motor_set_status(REVERSE);}elseif(PWMout>-255){g_motor_set_speed(-PWMout);g_motor_set_status(FAST_STOP);}else{g_motor_set_speed(255);g_motor_set_status(REVERSE);//elseg_motor_set_status(FREE_RUN);}}elseg_motor_se