控制算法設(shè)計說明VIP

第十一屆全國大學(xué)生智能汽車邀請賽技術(shù)報告第十三屆全國大學(xué)生智能汽車邀請賽技術(shù)報告附錄A：源代碼#include"headfile.h"externintflag;intmain(void){get_clk();//獲取時鐘頻率必須執(zhí)行DisableInterrupts;//關(guān)閉總中斷OLED_Init();//oled初始化uart_init(uart1,115200);//串口初始化pit_init_ms(pit0,1);//中斷定時1msset_irq_priority(PIT_CH0_IRQn,1);//中斷優(yōu)先級1enable_irq(PIT_CH0_IRQn);//中斷使能EnableInterrupts;//打開總中斷DirectionInit();//adc口初始化MotorInit();//電機pwm口初始化ftm_count_init(ftm0);//對E0引腳輸入的脈沖進行計數(shù)E0接編碼器LSBftm_count_init(ftm1);//對E7引腳輸入的脈沖進行計數(shù)E7接編碼器LSBgpio_init(H6,GPI,0);//用于判斷方向C5接編碼器DIRgpio_init(H7,GPI,0);//用于判斷方向H5接編碼器DIRport_pull(H6);//IO上拉port_pull(H7);//IO上拉gpio_init(C6,GPO,0);//蜂鳴器初始化IIC_init();//IIC初始化InitMPU6050();//mpu6050初始化gpio_init(A6,GPI,1);gpio_init(G3,GPI,1);gpio_init(E1,GPI,1);gpio_init(G1,GPI,1);gpio_init(C5,GPI,1);gpio_init(G0,GPI,1);pit_time_start(pit1);while(1){UI_Main();if(gpio_get(A6)==0){flag=1;}}}#include"KEA_UI.h"#include"KEA_UI.h"uint8UI_adc[4][7]={"ADC1:","ADC2:","ADC3:","ADC4:"};//uint8UI_Dir[2][7]={"DirP:","DirD:"};uint8UI_Speed[3][7]={"Sp_P:","Sp_I:","S_Set:"};intstopFlag=0;externint16g_ValueOfAD[4];externfloatg_dirControl_P;//externfloatg_dirControl_D;/externfloatg_speedControl_P;//externfloatg_speedControl_I;// externfloatspeedset;floatspeed=28;voidUI_Main(){staticintkeyNum;staticintMenuNum=0;staticintselectFlag=0;while(gpio_get(G3)==0){keyNum=keyscan();if(MenuNum==1){OLED_P8x16Str(1,selectFlag,">");if(keyNum==3){selectFlag+=3;if(selectFlag>6)selectFlag=3;OLED_Fill(0x00);}}if(MenuNum==2){OLED_P8x16Str(1,selectFlag,">");if(keyNum==3){selectFlag+=2;if(selectFlag>6)selectFlag=2;OLED_Fill(0x00);}}if(keyNum==4){MenuNum++;if(MenuNum==1)selectFlag=3;elseif(MenuNum==2)selectFlag=2;elseselectFlag=0;OLED_Fill(0x00);if(MenuNum>3)MenuNum=0;}setNum(MenuNum,keyNum,selectFlag);switch(MenuNum){case0:menu1();break;case1:menu2();break;case2:menu3();break;}}OLED_Fill(0x00);}voidmenu1(){OLED_P8x16Str(15,0,UI_adc[0]);OLED_Print_Num(70,0,(uint16)g_ValueOfAD[0]);OLED_P8x16Str(15,2,UI_adc[1]);OLED_Print_Num(70,2,(uint16)g_ValueOfAD[1]);OLED_P8x16Str(15,4,UI_adc[2]);OLED_Print_Num(70,4,(uint16)g_ValueOfAD[2]);OLED_P8x16Str(15,6,UI_adc[3]);OLED_Print_Num(70,6,(uint16)g_ValueOfAD[3]);}voidmenu2(){OLED_P8x16Str(15,0,"Direction:");OLED_P8x16Str(15,3,UI_Dir[0]);OLED_Print_Num(70,3,(uint16)g_dirControl_P);OLED_P8x16Str(15,6,UI_Dir[1]);OLED_Print_Num(70,6,(uint16)g_dirControl_D);}voidmenu3(){OLED_P8x16Str(15,0,"Direction:");OLED_P8x16Str(15,2,UI_Speed[0]);OLED_Print_Num(70,2,(uint16)g_speedControl_P);OLED_P8x16Str(15,4,UI_Speed[1]);OLED_Print_Num(70,4,(uint16)g_speedControl_I);OLED_P8x16Str(15,6,UI_Speed[2]);OLED_Print_Num(70,6,(uint16)speed);}unsignedcharkeyscan(void){staticcharkey_state=0;staticcharkey_value=0;unsignedcharkey_press,key_return=0;key_press=turn_up&turn_down&turn_ok&turn_change;//讀按鍵I/O電平switch(key_state){case0://按鍵初始態(tài)if(key_press==0)key_state=1;//鍵被按下，但需要確認是否是干擾break;case1://按鍵確認態(tài)if(key_press==0)//如有鍵按下則不是干擾，判斷鍵值{if(turn_up==0)//判斷是哪一個按鍵被按下key_value=1;//按鍵較多時可采用switch選擇結(jié)構(gòu)elseif(turn_down==0)key_value=2;elseif(turn_ok==0)key_value=3;elseif(turn_change==0)key_value=4;key_state=2;//狀態(tài)轉(zhuǎn)換到鍵釋放態(tài)}elsekey_state=0;//按鍵已抬起，屬于干擾，轉(zhuǎn)換到按鍵初始態(tài)break;case2:if(key_press==1){key_return=key_value;//按鍵釋放后再輸出鍵值key_value=0;key_state=0;//如果按鍵釋放，轉(zhuǎn)換到按鍵初始態(tài)}break;}returnkey_return;//返回鍵值}voidsetNum(intMenuNum,intkeyNum,intselectFlag){if(MenuNum==1){if(selectFlag==3){if(keyNum==1)g_dirControl_P++;if(keyNum==2)g_dirControl_P--;}elseif(selectFlag==6){if(keyNum==1)g_dirControl_D++;if(keyNum==2)g_dirControl_D--;}}elseif(MenuNum==2){if(selectFlag==2){if(keyNum==1)g_speedControl_P++;if(keyNum==2)g_speedControl_P-