移动机器人巡线和进站.ppt

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1、Review1.Whatdidwelearninthemorning?Makeourrobotsmove!Review2.Howmanyfunctionshadwelearnedandwhatweretheirroles?⑴S_T()⑵motor()⑶delay_ms()⑷stop()StopmoveMoveDelaytimeInitialize/getreadyReview3.Whicherrorshadappearedduringthetimewhenyouwrotecode?delay_ms()delay_ms()

2、motor()Motor()delay_ms(200)delay_ms(200);stop(lr)stop(rl)√√√√CheakupStartingpoint0.8mStartingpointRobotfollowlineStartingpoint0.8m相关函数（InterrelateFunction）FOLL_LINE(unsignedcharspeedofrobot,unsignedcharspeedofrightmotor,unsignedcharspeedofleftmotor,unsignedintlin

3、es)eg.FOLL_FINE(70，70，70，3);相关函数（InterrelateFunction）TURN_90（unsignedcharturnleftorright,unsignedcharspeedofrightmotor,unsignedcharspeedofleftmotor,unsignedchartheturningtime,unsignedchartheshieldingtime,unsignedchartheendtime）eg.TURN_90(l,50,50,2900,500,2);Start

4、ingpointMission1:Robotfollowline.StartingpointMission2StartingpointCanyoutry?Startingpoint121112Mission2:机器人进站（Gotothestation）startareastation相关函数（InterrelateFunction）SER_SEL(unsignedcharpsgd)e.g.:SER_SEL(ps912);PS_10jz();//gotothestationMission3:Gototheworktable

5、homeWorktableMission4:GototheworktablehomeworktablePickupandputdownworkpiece----ForNextTime