第三届技术报告南邮冲浪者

1、第三届“飞”大学智能汽车邀请技术第三届“飞”大学智能汽车邀请技术学I &)*+,- &)*+,-GHKH 2.1,!-2.2GHKH 2.1,!-2.23.1 3.2 3.3 ZHR_HR5.15.25.35.45.55.6+6.16.26.36.6Hf6.16.26.36.6HfYhjlHnoT3qu11.1i11.2AD*6+),-_aby67/0MdHCS12u:;?#Pd7aKb-1Hc -*6+),-_aby67/0MdHCS12u:;?#Pd7aKb-1Hc - 1 2、 机械结构设3流2、 机械结构设3流程设- 2 PDF 文件使用 ctory三智能车发展历1、最初形三智能车发展

2、历1、最初形态（如图 - 3 vwZxyPz?FqKMbc?PdTO:exLF=Pf:$g(h-Hz0PvwZxyPz?FqKMbc?PdTO:exLF=Pf:$g(h-Hz0PA,M-.K/09Ma1Z #N/?Rj5#I#/0;ZN;*FMI0r6A-PIJ/45MNvoa Hz - 4 （1）。（3）（1）。（3）1/2（5）（6）四机械设计部- 5 合舵机竖放左右左后轮测右后轮1、 路径检测红外传感器的安-合舵机竖放左右左后轮测右后轮1、 路径检测红外传感器的安- 6 PDF 文件使用 ctory 试用版本创建 电主2、 起跑线检测红外传2、 起跑线检测红外传感器的安71.71.50%

3、3、舵机的安- 7 4定- 4定- 8 15、电池的安6、主板15、电池的安6、主板的固- 9 7、 测速电机的7、 测速电机的安33887- 10*R1HNOjR2940*R1HNOjR2940p# 2940 yvI8#vDcdeNOyMmn7B?oN#O,tuQHYN, pM5zIMZ9n,AD4HEGHIMUbZ5z-z,!deK7XU|AKYMADO4ez-=c;*5bcMEFIhJ,c; Wz-z*Kdr*sMmn=Yo,e*KH*s 5H- 16AD线以及白板所获得的 AD1234567可以看到,第六个红外传感器采回的是黑线的 AD 值,而其它的传感器采回的是白70.在确定舵机的偏

4、转角的时候可以对对管设定权值来设定偏转角,假设舵机的控制函数为 Direction(char angel),其中传递的形参的范围为 AD线以及白板所获得的 AD1234567可以看到,第六个红外传感器采回的是黑线的 AD 值,而其它的传感器采回的是白70.在确定舵机的偏转角的时候可以对对管设定权值来设定偏转角,假设舵机的控制函数为 Direction(char angel),其中传递的形参的范围为 110190,七个红外采回的 AD 值分别放在left2,left1,mid,right1,right2,right3angel=150+(right3-left3)/4+(right2-left2

5、)/6+ ( right1 - left ) / 86电调节方。七调试过程及数据分的参数整定过(1I,DP(2PPI- 17PDF 文件使用 ctory 试用版本创建 (3(4KSW=YdA,p1mnNopT fPj2H*3H u(3(4KSW=YdA,p1mnNopT fPj2H*3H u4H xRG|i5H4?e(014140W2e%PdMNO,F-=W_xyMz91nuU-hJb 81,m-,(;e7l),t1u-t2u9:#.HCS12#f89/. .t7uHCS1289/- 19%PdMNO,F-=W_xyMz91nuU-hJb 81,m-,(;e7l),t1u-t2u9:#.HCS

6、12#f89/. .t7uHCS1289/- 191H#include /* common defines and macros #include /* derivative LINK_INFO unchar unsigned DIR_MID -ON_LINE /*AD d;1H#include /* common defines and macros #include /* derivative LINK_INFO unchar unsigned DIR_MID -ON_LINE /*AD d;midl midr - 20;/; typedef d ATD struct mid ; type

7、def struct controler Controler void Delay100us( unchar time ) /+nvoid Delay100ms( unchar time ) /+n/*LCDy Init_LCD( void ) _unchar( unchar number, unchar x, unchar y ) ;/; typedef d ATD struct mid ; typedef struct controler Controler void Delay100us( unchar time ) /+nvoid Delay100ms( unchar time ) /

8、+n/*LCDy Init_LCD( void ) _unchar( unchar number, unchar x, unchar y ) /elm iZUbunchar_char( char number, unchar x, unchar y ( number, unchar x, unchar y ) /elm - 21iZUbvoid _(number, unchar x, unchar y ) ( void ) Moto( speed ) Direction( unchar dir ;/*ADvoid Init_ATD( void ) /ADvoid D( d* atdget )

9、/NwADInit_IO( void ) /q I/O _My Control_dir( ATD atdget, unchar* dir ) ; IJ ATD Init_Control( void ) (con_speed ) void iZUbvoid _(number, unchar x, unchar y ) ( void ) Moto( speed ) Direction( unchar dir ;/*ADvoid Init_ATD( void ) /ADvoid D( d* atdget ) /NwADInit_IO( void ) /q I/O _My Control_dir( A

10、TD atdget, unchar* dir ) ; IJ ATD Init_Control( void ) (con_speed ) void speed( char void Sci0Open( void ) void Sci0Write( unsigned char chSend ) unsigned char Sci0Read( ) /*EEPROM;- 22(volatile)EER_PROTECTED_WRONG (-EER_PARAMETER_WRONG (-S(-S Init_ATD( void ) Init_ATD( void PORTB_BIT5 = 0 ATD0CTL2

11、|= Delay100us( 5 (volatile)EER_PROTECTED_WRONG (-EER_PARAMETER_WRONG (-S(-S Init_ATD( void ) Init_ATD( void PORTB_BIT5 = 0 ATD0CTL2 |= Delay100us( 5 ;=;=;=;D( ATD* atdget - 23while( ( );atdget-=ATD0DR0H atdget-=atdget-=atdget-midr atdget-midl atdget-=atdget-=atdget-=ATD0CTL2 &= 0 x7F #define LCD_POR

12、T /LCDWky#define LCD_CON while( ( );atdget-=ATD0DR0H atdget-=atdget-=atdget-midr atdget-midl atdget-=atdget-=atdget-=ATD0CTL2 &= 0 x7F #define LCD_PORT /LCDWky#define LCD_CON /LCDt_mode Clear Off0 x08 Poist On - 24Init_LCD( void ) Is_busy( void mand( cmd ) Write_data( unchar data_w ) Display_one_cha

13、r( unchar unchar x, unchar )void _unchar( unchar number, unchar x, y) miZUbuncharvoid _char( char number, unchar x, unchar );void ( number, unchar x, y);/elm iZUbvoid _(number, unchar x, unchar y ;Init_LCD( void DDRB |= ;DDRA |= ;LCD_PORT = ;LCD_CON = ;)Init_LCD( void ) Is_busy( void mand( cmd ) Wri

14、te_data( unchar data_w ) Display_one_char( unchar unchar x, unchar )void _unchar( unchar number, unchar x, y) miZUbuncharvoid _char( char number, unchar x, unchar );void ( number, unchar x, y);/elm iZUbvoid _(number, unchar x, unchar y ;Init_LCD( void DDRB |= ;DDRA |= ;LCD_PORT = ;LCD_CON = ;);Delay

15、100us( 5 ) );Off ;) On ) -25void Is_busy( void DDRA 0 x00 &= |= /PORTA;/PORTBRS,R/W,E 口设定为 0, while LCD_PORT );&= ;DDRA 0 xFF /PORTAvoid Is_busy( void DDRA 0 x00 &= |= /PORTA;/PORTBRS,R/W,E 口设定为 0, while LCD_PORT );&= ;DDRA 0 xFF /PORTA/PORTALCD_PORT ;令mand( )Delay100us( 5 ) Is_busy() LCD_PORT= LCD_

16、CON LCD_CON ;cmd ;/PORTBRS，R/W, E0， Delay100us( 5 ;0.5/将ELCD_CON LCD_PORT - 26Write_data( )Delay100us( 5 ;Is_busy( LCD_PORT= LCD_CON ;0 xEa ;LCD_CON = 0 x11 Delay100us( 5 LCD_CON&=Write_data( )Delay100us( 5 ;Is_busy( LCD_PORT= LCD_CON ;0 xEa ;LCD_CON = 0 x11 Delay100us( 5 LCD_CON&=0 xEF LCD_PORT = /

17、PORTBRS,R/W,E1，00.5/将E;void Display_one_char( if( x 16 | x 2 | y 0 y = 1 if( 2 = y ) x+=0 x40;x = x + mand( ; /向液晶输出数据Write_data( data_w - 27_unchar( number, unchar x, y)unchar i unchar num 3 x = ( x - 1 ) * ;num = / -= num 0 * 100 1= number / 2= number - num 1 * i=0; i 3; i + Display_one_char( num

18、i + 48, x, y x + Display_one_char( , x, y ) _unchar( number, unchar x, y)unchar i unchar num 3 x = ( x - 1 ) * ;num = / -= num 0 * 100 1= number / 2= number - num 1 * i=0; i 3; i + Display_one_char( num i + 48, x, y x + Display_one_char( , x, y ) _char( number, unchar x, unchar y unchar i unchar num

19、 x = ( x - 1 * 4 if( number 0 number = -( number ) Display_one_char( -, x, y ) - 28x + Display_one_char( , x, y ) x + num = number / -= num 0 * 100 1= number / 2= number - num 1 i=0; i 3; i + Display_one_char( i + x, x + ( number, y)i num x + Display_one_char( , x, y ) x + num = number / -= num 0 *

20、100 1= number / 2= number - num 1 i=0; i 3; i + Display_one_char( i + x, x + ( number, y)i num num = / 10000 -= 10000 num 0 num = / 1000 -= num 1 * 1000 num = number / 100 -= num 2 * 100 num = number / 10 - 29num 4 = number - num 3 * 10 x = ( x - 1 ) * 6 for( i = 0; i 5; i + Display_one_char( num i

21、+ 48, x, y ;x + Display_one_char( , x, y ) _(number, unchar x, y)unchar i unchar num 5 x = ( x - 1 ) * 9 if( number 0 number = -( number ) Display_one_char( -, x, y ) x + num = / 10000 -= 10000 num 0 num 4 = number - num 3 * 10 x = ( x - 1 ) * 6 for( i = 0; i 5; i + Display_one_char( num i + 48, x,

22、y ;x + Display_one_char( , x, y ) _(number, unchar x, y)unchar i unchar num 5 x = ( x - 1 ) * 9 if( number 0 number = -( number ) Display_one_char( -, x, y ) x + num = / 10000 -= 10000 num 0 num = / 1000 -= num 1 * 1000 num = number / 100 -= num 2 * 100 num = number / 10 num = number - num 3 * 10 -

23、30for( i = 0; i 5; i + Display_one_char( num i + 48, x, y ;x + Display_one_char( x, y ) ( ) Moto( ) Direction( );void E 0 x00 =0 x20 M2D3= ;/T)v-Wfor( i = 0; i = )/ if( speed SPD_FMAX )/ speed = SPD_FMAX =0 =speed / if( speed =u130170tDIR_RMAXPDIR_LMAXP/uuFMdiruDirection( unchar dir ic pre_dir = DIR

24、_MID if( dir pre_dir DTY23 = DIR_RMAX + ;Delay100us( 5 ) else if( dir =u130170tDIR_RMAXPDIR_LMAXP/uuFMdiruDirection( unchar dir ic pre_dir = DIR_MID if( dir pre_dir DTY23 = DIR_RMAX + ;Delay100us( 5 ) else if( dir DIR_RMAX dir = if( dir DIR_LMAX dir = DIR_LMAX DTY23 = dir ;#define i - 33Ui =0 E 3 =

25、0, 0, 0 (con_speed i = con_speed - now_speed =(Ei-Ei-1)2)+Ei-Ei-1+(Ui =0 E 3 = 0, 0, 0 (con_speed i = con_speed - now_speed =(Ei-Ei-1) 3 ) + ( E i 6 ) +(Ei-(Ei-11)+E- 2 ) / = + dU i - E -1;i - E ;Moto( ( )Ui ) 6H.char conspeed void Init_Control( )TIOS = ;/PTPT_myPT_My - 34= 0 / PT = ;/T)v-WnOu7P)vnF

26、u4TIE 0 x07 /PT1 PT2 PT3y = ;PT_My T1= ;TCNT = ;=/PT0oW2500t2500 4V10000V 0.01=;/PT1oW 125004PH0.05=;= 0 / PT = ;/T)v-WnOu7P)vnFu4TIE 0 x07 /PT1 PT2 PT3y = ;PT_My T1= ;TCNT = ;=/PT0oW2500t2500 4V10000V 0.01=;/PT1oW 125004PH0.05=;/ PT2oW625004PH0.25cli CODE_SEG NEAR_SEG errupt _Control( )sic speedtim

27、es = ;sspeed_sum 0;temp_speed 32 = 0 - -if( 0 ( PORTK_BIT2 ) speed = else 1 = ( PORTK_BIT2 ) speed = - 1 0 x01 TC0 +=2500 if( 0 = ( % 5 ) flag CODE_SEG CODE_SEG NEAR_SEG errupt 9 Dir_Control( void if( 0 ( PORTK_BIT2 ) speed = else 1 = ( PORTK_BIT2 ) speed = - 1 0 x01 TC0 +=2500 if( 0 = ( % 5 ) flag

28、CODE_SEG CODE_SEG NEAR_SEG errupt 9 Dir_Control( void ATD atdget unchar dir asm sei Init_ATD( ) D( &atdget ) Control_dir( atdget, &dir - 36Direction( dir ) TC1 += 12500 T1 |= 0 x02 conspeed = 10 flag = 1 asm cli CODE_SEG CODE_SEG NEAR_SEG errupt 10 )1 |= 0 x04 TC2 += 62500 CODE_SEG 7H,-Controler ctr

29、l dir_cal = 0 void Control_dir( ATD )sic unchar l_or_r = 0 unchar =0;Direction( dir ) TC1 += 12500 T1 |= 0 x02 conspeed = 10 flag = 1 asm cli CODE_SEG CODE_SEG NEAR_SEG errupt 10 )1 |= 0 x04 TC2 += 62500 CODE_SEG 7H,-Controler ctrl dir_cal = 0 void Control_dir( ATD )sic unchar l_or_r = 0 unchar =0;=

30、0;=0;=0;- 37char differ_mid = 0 char adder = 0 if(atdget.left2ON_LINE|atdget.left1ON_LINE| atdget.midl ON_LINE )is_on_linechar differ_mid = 0 char adder = 0 if(atdget.left2ON_LINE|atdget.left1ON_LINE| atdget.midl ON_LINE )is_on_line=1; l_or_r = 1 ;else if( atdget.right2 ON_LINE | atdget.midr ON_LINE

31、 )ON_LINE l_or_r = =;1 if( is_on_line differ_mid =-;atdget.midl - atdget.midr if( differ_side3 = 3 = -differ_side3 - 38= 3 if( = 3 = -;= 3 if( = 3 if( = 3 = -;= 3 if( = 3 = -;= 3 if( differ_mid 0 =-differ_mid = 3 = -differ_mid = 3 - 39;differ_mid *= ctrl.mid if( 4 PORTE 1);1);2);differ_mid, 2, );add

32、er=differ_side3+differ_side2+differ_side1+differ_midif( adder 0 ;differ_mid *= ctrl.mid if( 4 PORTE 1);1);2);differ_mid, 2, );adder=differ_side3+differ_side2+differ_side1+differ_midif( adder 0 dir_cal -= adder dir_cal += adder *dir = DIR_MID + ;!l_or_r *dir +=5 l_or_r - 40*dir = DIR_LMAX *dir = DIR_

33、RMAX if( 3 = PORTE is_on_line, 2);1);8H#define Num ;differ_mid Num unchar temp extern Controler ;/ unchar count *dir = DIR_LMAX *dir = DIR_RMAX if( 3 = PORTE is_on_line, 2);1);8H#define Num ;differ_mid Num unchar temp extern Controler ;/ unchar count Init_LCD( ) ( ) Init_IO( ) Init_Control( ) PORTB=

34、 0 x00 - -_unchar( 255, 1);ctrl.mid 1;=2 =3 for( ; ; atdget unchar dir ;differ_mid Init_ATD( ) D( &atdget ;Control_dir( atdget, );Direction( ) =-;=-;=-;differ_mid atdget.midr - atdget.midl temp = & 0 x0F switch( _unchar( 255, 1);ctrl.mid 1;=2 =3 for( ; ; atdget unchar dir ;differ_mid Init_ATD( ) D( &atdget ;Control_dir( atdget, );Direction( ) =-;=-;=-;differ_mid atdget.midr - atdget.midl temp = & 0 x0F switch( )case 0 _unchar( 1 ) _unchar( atdget.left2, 2, 1 ) - 42_unchar( atdget.left1, 1, 2 ) atdget.midl, 2, );break case 1 atdget.right3, 1);atd