智能机器人课程设计报告

1、天津师范大学计算机与信息工程学院课程设计报告课程名称： 机器人设设计 设计题目： 专专 业业： 信息工工程 班 级： 08（11）班 组 别： 学生姓名: 吴雪萍 学 号: 0855092055 起止日期: 2011年3月1日 2011年 7月1日指导教师: 刘岩恺 梁景景莲 同组人员： 课程设计题目机器人设计实验验姓名吴雪萍学号085092005班级08信息（1）班班班级专业信息工程组别组长组员指导教师刘岩恺 梁景莲莲课程设计目的设计家庭组机器器人和机器人人行走课程设计环境Vc+课程设计任务和和要求用C+语言设设计一个颜色色识别的程序序和一个机器器人行走程序序课程设计内容描描述：绪论 通通过

2、学习机器器人设计2课课程，学会了了家庭组机器器人和足球机机器人的一些些理论知识。了了解了机器人人方向识别，动动手调试了全全景摄像头和和前置摄像头头，设置了场场地、球门、白白线、足球等等的颜色数值值。颜色识别的产生生 结合梁老师师给的人脸识识别程序，通通过改变人脸脸模型建立颜颜色识别程序序。 平台的选择及搭搭建 根据刘老师师给的参考资资料，首先安安装了DirrectX99.0 SDDK和Visuaal C+软件，然后后一步步的按按照老师所给给的步骤，先先建立基本界界面，接着编编制串口通讯讯控制机器人人的程序，读读取距离传感感器信息等，最最后得出了机机器人行走程程序如下。课程设计源程序序：机器人行

3、走走/ VoyTTestDllg.cppp : immplemeentatiion fiile/#includde sttdafx.h#includde VooyTestt.h#includde VooyTesttDlg.hh#ifdef _DEBUUG#definee new DEBUGG_NEW#undef THIS_FILEstatic char THIS_FILE = _FILEE_;#endif/ CAbooutDlgg diallog ussed foor Appp Abouutclass CCAbouttDlg : publlic CDDialoggpublic:CAbouttD

4、lg();/ Diallog Daata/AFFX_DATTA(CAbboutDllg)enum IDD = IDDD_ABOUUTBOX ;/AFFX_DATTA/ ClaassWizzard ggeneraated vvirtuaal funnctionn overrridess/AFFX_VIRRTUAL(CAbouutDlg)proteccted:virtuaal voiid DoDDataExxchangge(CDaataExcchangee* pDXX); / DDDX/DDDV suppport/AFFX_VIRRTUAL/ Impllementtationnprotectted

5、:/AFFX_MSGG(CAbooutDlgg)/AFFX_MSGGDECLARRE_MESSSAGE_MAP();CAboutDDlg:CCAbouttDlg() : CDDialogg(CAbooutDlgg:IDDD)/AFFX_DATTA_INIIT(CAbboutDllg)/AFFX_DATTA_INIITvoid CAAboutDDlg:DDoDataaExchaange(CCDataEExchannge* ppDX)CDialoog:DooDataEExchannge(pDDX);/AFFX_DATTA_MAPP(CAbooutDlgg)/AFFX_DATTA_MAPPBEGIN

6、_MMESSAGGE_MAPP(CAbooutDlgg, CDiialog)/AFFX_MSGG_MAP(CAbouutDlg)/ Noo messsage hhandleers/AFFX_MSGG_MAPEND_MESSSAGE_MAP()/ CVoyyTestDDlg diialogCVoyTesstDlg:CVoyyTestDDlg(CWWnd* ppParennt /*=NULL*/): CDiaalog(CCVoyTeestDlgg:IDDD, pPaarent)/AFFX_DATTA_INIIT(CVooyTesttDlg)m_nPorrt = 00;/AFFX_DATTA_INI

7、IT/ Notte thaat LoaadIconn doess not requiire a subseequentt DesttroyIccon inn Win332m_hIcoon = AAfxGettApp()-LoaadIconn(IDR_MAINFFRAME);void CVVoyTesstDlg:DoDaataExcchangee(CDattaExchhange* pDX)CDialoog:DooDataEExchannge(pDDX);/AFFX_DATTA_MAPP(CVoyyTestDDlg)DDX_Teext(pDDX, IDDC_PORRT, m_nPortt);/AF

8、FX_DATTA_MAPPBEGIN_MMESSAGGE_MAPP(CVoyyTestDDlg, CCDialoog)/AFFX_MSGG_MAP(CVoyTTestDllg)ON_WM_SYSCOOMMANDD()ON_WM_PAINTT()ON_WM_QUERYYDRAGIICON()ON_BN_CLICKKED(IDDC_OPEEN, OnnOpen)ON_BN_CLICKKED(IDDC_FORRWARD, OnFoorwardd)ON_BN_CLICKKED(IDDC_BACCKWARDD, OnBBackwaard)ON_BN_CLICKKED(IDDC_TURRELEFTT, O

9、nTTureleeft)ON_BN_CLICKKED(IDDC_TURRERIGHHT, OnnTurerright)ON_BN_CLICKKED(IDDC_BRAAKE, OOnBrakke)/AFFX_MSGG_MAPEND_MESSSAGE_MAP()/ CVoyyTestDDlg meessagee handdlersBOOL CVVoyTesstDlg:OnInnitDiaalog()CDialoog:OnnInitDDialogg();/ Addd Aboout. mennu iteem to systeem mennu./ IDMM_ABOUUTBOX must be inn t

10、he systeem commmand rangee.ASSERTT(IDMM_ABOUUTBOX & 0 xFFFF0) = IDDM_ABOOUTBOXX);ASSERTT(IDM_ABOUTTBOX AppeendMennu(MF_SEPARRATOR);pSyssMenu-AppeendMennu(MF_STRINNG, IDDM_ABOOUTBOXX, strrAbouttMenu);/ Sett the icon for tthis ddialogg. Thhe fraameworrk doees thiis auttomatiicallyy/ whhen thhe appplic

11、attionss mainn winddow iss not a diaalogSetIcoon(m_hhIcon, TRUEE);/ Seet bigg iconnSetIcoon(m_hhIcon, FALSSE);/ Seet smaall iccon/ TODDO: Addd exttra innitiallizatiion heerereturnn TRUEE; / retuurn TRRUE uunlesss you set tthe foocus tto a ccontroolvoid CVVoyTesstDlg:OnSyysCommmand(UUINT nnID, LLPARA

12、MM lParram)if (nnID & 0 xFFFF0) = IDM_ABOUTTBOX)CAbouutDlg dlgAbbout;dlgAbbout.DDoModaal();elseCDiallog:OOnSysCCommannd(nIDD, lPaaram);/ If yyou addd a mminimiize buutton to yoour diialog, you will need the ccode bbelow/ to draw the iicon. For MFC aappliccationns usiing thhe doccumentt/vieww modeel,

13、/ thiis is autommaticaally ddone ffor yoou by the fframewwork.void CVVoyTesstDlg:OnPaaint() if (IssIconiic()CPainntDC ddc(thiis); / devvice ccontexxt forr painntingSendMMessagge(WM_ICONEERASEBBKGND, (WPAARAM) dc.GeetSafeeHdc(), 0);/ Ceenter icon in cllient rectaangleint ccxIconn = GeetSysttemMettric

14、s(SM_CXXICON);int ccyIconn = GeetSysttemMettrics(SM_CYYICON);CRectt rectt;GetCllientRRect(&rect);int xx = (rrect.WWidth() - ccxIconn + 1) / 2;int yy = (rrect.HHeightt() - cyIcoon + 11) / 22;/ Drraw thhe icoondc.DrrawIcoon(x, y, m_hIconn);elseCDiallog:OOnPainnt();/ The systeem callls thhis too obtaai

15、n thhe currsor tto dissplay whilee the user dragss/ thee miniimizedd winddow.HCURSORR CVoyyTestDDlg:OOnQuerryDraggIcon()returnn (HCUURSOR) m_hIIcon;void CVVoyTesstDlg:OnOppen() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereeUpdateeData();/CStrring sstr;/str.Formaat(您打打开的串口号号为%d,m_n

16、Poort);/AfxMMessaggeBox(str); m_CCom.SeetCmd(&m_Cmmd); /协议层与通通讯层对接 m_CCom.Crreate(m_nPoort); /打开通讯串串口void CVVoyTesstDlg:OnFoorwardd() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(1100,1000); /前行void CVVoyTesstDlg:OnBaackwarrd() / TODDO: Addd youur conn

17、trol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(-100,-100);/后退void CVVoyTesstDlg:OnTuurelefft() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(-100,1100);/左转void CVVoyTesstDlg:OnTuurerigght() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(1100,-1100);/右转void CVVoyTesstDlg:OnBrrake() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.Brakee(1);/刹车总结：程序调试及运行行结果通过程序运行，我我们可以看到到足球机器人人前进，后退退，左转，右右转及刹车等等动作的分解解。小结：通过完成成本次实验，我我认识到理论论与实践的