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已知命题公式A=﹁( p Ú q ) Ù ( (pÚ r) Ú s),用JAVA或C/C++语言编写程序构造该命题公式的真值表

时间: 2023-06-04 17:02:54 浏览: 282
好的,我会帮您构造该命题公式的真值表。以下是代码示例,供您参考: ```java public class TruthTable { public static void main(String[] args) { boolean p, q, r, s; System.out.println("p\tq\tr\ts\tA"); for (int i = 0; i < 2; i++) { p = (i == 0); for (int j = 0; j < 2; j++) { q = (j == 0); for (int k = 0; k < 2; k++) { r = (k == 0); for (int l = 0; l < 2; l++) { s = (l == 0); boolean A = !(p || q) && ((p || r) || s); System.out.print(p + "\t" + q + "\t" + r + "\t" + s + "\t" + A); System.out.println(); } } } } } } ``` 该程序会输出命题公式的真值表。其中,p、q、r、s 为逻辑变量,表示命题公式中的四个命题,取值为 true 或 false;A 为命题公式的值,根据题目给定的命题公式计算所得。在输出过程中,程序会逐行输出每种可能的逻辑变量组合对应的 A 值。
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#include <REG52.h> #define uint unsigned int #define uchar unsigned char //ºê¶¨Òå sbit SET= P3^1; //¶¨Òåµ÷Õû¼ü sbit DEC= P3^2; //¶¨Òå¼õÉÙ¼ü sbit ADD= P3^3; //¶¨ÒåÔö¼Ó¼ü sbit BEEP=P3^6; //¶¨Òå·äÃùÆ÷ sbit ALAM=P1^2; //¶¨Ò嵯¹â±¨¾¯ sbit DQ= P3^7; //¶¨ÒåDS18B20×ÜÏßI/O bit shanshuo_st; //ÉÁ˸¼ä¸ô±êÖ¾ bit beep_st; //·äÃùÆ÷¼ä¸ô±êÖ¾ sbit DIAN = P0^5; //СÊýµã uint x=0; //¼ÆÊýÆ÷ signed char m; //ζÈֵȫ¾Ö±äÁ¿ uchar n; //ζÈֵȫ¾Ö±äÁ¿ uchar set_st=0; //״̬±êÖ¾ signed char shangxian=38; //ÉÏÏÞ±¨¾¯Î¶ȣ¬Ä¬ÈÏֵΪ38 signed char xiaxian=5; //ÏÂÏÞ±¨¾¯Î¶ȣ¬Ä¬ÈÏֵΪ38 //uchar code LEDData[]={0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xff}; uchar code LEDData[]={0x5F,0x44,0x9D,0xD5,0xC6,0xD3,0xDB,0x47,0xDF,0xD7,0xCF,0xDA,0x9B,0xDC,0x9B,0x8B}; // P0.7-G P0.6-C P0.5-. P0.4-D P0.3-E P0.2-B P0.1-F P0.0-A //============================================================================================ //====================================DS18B20================================================= //============================================================================================ /*****ÑÓʱ×Ó³ÌÐò*****/ void Delay_DS18B20(int num) { while(num--) ; } /*****³õʼ»¯DS18B20*****/ void Init_DS18B20(void) { unsigned char x=0; DQ = 1; //DQ¸´Î» Delay_DS18B20(8); //ÉÔ×öÑÓʱ DQ = 0; //µ¥Æ¬»ú½«DQÀ­µÍ Delay_DS18B20(80); //¾«È·ÑÓʱ£¬´óÓÚ480us DQ = 1; //À­¸ß×ÜÏß Delay_DS18B20(14); x = DQ; //ÉÔ×öÑÓʱºó£¬Èç¹ûx=0Ôò³õʼ»¯³É¹¦£¬x=1Ôò³õʼ»¯Ê§°Ü Delay_DS18B20(20); } /*****¶ÁÒ»¸ö×Ö½Ú*****/ unsigned char ReadOneChar(void) { unsigned char i=0; unsigned char dat = 0; for (i=8;i>0;i--) { DQ = 0; // ¸øÂö³åÐźŠdat>>=1; DQ = 1; // ¸øÂö³åÐźŠif(DQ) dat|=0x80; Delay_DS18B20(4); } return(dat); } /*****дһ¸ö×Ö½Ú*****/ void WriteOneChar(unsigned char dat) { unsigned char i=0; for (i=8; i>0; i--) { DQ = 0; DQ = dat&0x01; Delay_DS18B20(5); DQ = 1; dat>>=1; } } /*****¶ÁȡζÈ*****/ unsigned int ReadTemperature(void) { unsigned char a=0; unsigned char b=0; unsigned int t=0; float tt=0; Init_DS18B20(); WriteOneChar(0xCC); //Ìø¹ý¶ÁÐòÁкŵIJÙ×÷ WriteOneChar(0x44); //Æô¶¯Î¶Èת»» Init_DS18B20(); WriteOneChar(0xCC); //Ìø¹ý¶ÁÐòºÅÁкŵIJÙ×÷ WriteOneChar(0xBE); //¶ÁȡζȼĴæÆ÷ a=ReadOneChar(); //¶ÁµÍ8λ b=ReadOneChar(); //¶Á¸ß8λ t=(b<<8)|a ; t=t*6.25; //·Å´ó10±¶£¨½«Ð¡ÊýµãºóһλÏÔʾ³öÀ´£©Êä³ö²¢ËÄÉáÎåÈë return(t); //·µ»ØÎ¶ÈÖµ } //===================================================================================== //===================================================================================== //===================================================================================== /*****ÑÓʱ×Ó³ÌÐò*****/ void Delay(uint num) { while( --num ); } /*****³õʼ»¯¶¨Ê±Æ÷0*****/ void InitTimer(void) { TMOD=0x1; TH0=0x3c; TL0=0xb0; //50ms£¨¾§Õñ12M£© } /*****¶ÁȡζÈ*****/ void check_wendu(void) { uint a,b,c,d; c=ReadTemperature(); //»ñȡζÈÖµ 23.4 234 a=c/1000; //¼ÆËãµÃµ½Ê®Î»Êý×Ö a=2 b=c/100-a*10;//¼ÆËãµÃµ½¸öλÊý×Ö b=234/10-2*10=23-20=3 m=c/100; //¼ÆËãµÃµ½ÕûÊýλ m=234/10=23 n=c-a*1000-b*100;//¼ÆËãµÃµ½Ð¡Êýλ n=234-2*100-3*10=234-200-30=4 if(m<0){m=0;n=0;} //ÉèÖÃζÈÏÔʾÉÏÏÞ if(m>99){m=99;n=9;} //ÉèÖÃζÈÏÔʾÉÏÏÞ } /*****ÏÔʾ¿ª»ú³õʼ»¯µÈ´ý»­Ãæ*****/ void Disp_init(void) { P0 = ~0x80; //ÏÔʾ---- P2 = 0x00; Delay(800); } /*****ÏÔʾζÈ×Ó³ÌÐò*****/ void Disp_Temperature(void) //ÏÔʾÎÂ¶È { P0 = ~LEDData[n%10]; //ÏÔʾC P2 = 0x7F; Delay(100); P2=0xff; P0=~LEDData[n/10]; //ÏÔʾ¸öλ P2 = 0xDF; Delay(100); P2=0xff; P0 =~LEDData[m%10]; //ÏÔʾʮλ DIAN = 0; //ÏÔʾСÊýµã P2 = 0xF7; Delay(100); P2=0xff; P0 =~LEDData[m/10]; //ÏÔʾ°Ùλ P2 = 0xFD; Delay(100); P2 = 0xff; //¹Ø±ÕÏÔʾ } /*****ÏÔʾ±¨¾¯Î¶È×Ó³ÌÐò*****/ void Disp_alarm(uchar baojing) { P0 =~0x98; //ÏÔʾC P2 = 0x7F; Delay(100); P2=0xff; P0 =~LEDData[baojing%10]; //ÏÔʾʮλ P2 = 0xDF; Delay(100); P2=0xff; P0 =~LEDData[baojing/10]; //ÏÔʾ°Ùλ P2 = 0xF7; Delay(100); P2=0xff; if(set_st==1)P0 =~0xCE; else if(set_st==2)P0 =~0x1A; //ÉÏÏÞH¡¢ÏÂÏÞL±êʾ P2 = 0xFD; Delay(100); P2 = 0xff; //¹Ø±ÕÏÔʾ } /*****±¨¾¯×Ó³ÌÐò*****/ void Alarm() { if(x>=10){beep_st=~beep_st;x=0;} if(((m>=shangxian&&beep_st==1)||(m<xiaxian&&beep_st==1))&&shangxian!=xiaxian) { BEEP=0; ALAM=0; } else { BEEP=1; ALAM=1; } } /*****Ö÷º¯Êý*****/ void main(void) { if(SET==1) { P0=0x50; P2=0x7f; } else if(SET==0) { uint z; InitTimer(); //³õʼ»¯¶¨Ê±Æ÷ EA=1; //È«¾ÖÖжϿª¹Ø TR0=1; ET0=1; //¿ªÆô¶¨Ê±Æ÷0 IT0=1; IT1=1; check_wendu(); check_wendu(); for(z=0;z<300;z++) { Disp_init(); } while(1) { if(SET==0) { Delay(2000); do{}while(SET==0); set_st++;x=0;shanshuo_st=1; if(set_st>2)set_st=0; } if(set_st==0) { EX0=0; //¹Ø±ÕÍⲿÖжÏ0 EX1=0; //¹Ø±ÕÍⲿÖжÏ1 check_wendu(); Disp_Temperature(); Alarm(); //±¨¾¯¼ì²â } else if(set_st==1) { BEEP=1; //¹Ø±Õ·äÃùÆ÷ ALAM=1; EX0=1; //¿ªÆôÍⲿÖжÏ0 EX1=1; //¿ªÆôÍⲿÖжÏ1 if(x>=10){shanshuo_st=~shanshuo_st;x=0;} if(shanshuo_st) {Disp_alarm(shangxian);} } else if(set_st==2) { BEEP=1; //¹Ø±Õ·äÃùÆ÷ ALAM=1; EX0=1; //¿ªÆôÍⲿÖжÏ0 EX1=1; //¿ªÆôÍⲿÖжÏ1 if(x>=10){shanshuo_st=~shanshuo_st;x=0;} if(shanshuo_st) {Disp_alarm(xiaxian);} } } } } /*****¶¨Ê±Æ÷0ÖжϷþÎñ³ÌÐò*****/ void timer0(void) interrupt 1 { TH0=0x3c; TL0=0xb0; x++; } /*****ÍⲿÖжÏ0·þÎñ³ÌÐò*****/ void int0(void) interrupt 0 { EX0=0; //¹ØÍⲿÖжÏ0 if(DEC==0&&set_st==1) { do{ Disp_alarm(shangxian); } while(DEC==0); shangxian--; if(shangxian<xiaxian)shangxian=xiaxian; } else if(DEC==0&&set_st==2) { do{ Disp_alarm(xiaxian); } while(DEC==0); xiaxian--; if(xiaxian<0)xiaxian=0; } } /*****ÍⲿÖжÏ1·þÎñ³ÌÐò*****/ void int1(void) interrupt 2 { EX1=0; //¹ØÍⲿÖжÏ1 if(ADD==0&&set_st==1) { do{ Disp_alarm(shangxian); } while(ADD==0); shangxian++; if(shangxian>99)shangxian=99; } else if(ADD==0&&set_st==2) { do{ Disp_alarm(xiaxian); } while(ADD==0); xiaxian++; if(xiaxian>shangxian)xiaxian=shangxian; } } 编写一个相同功能的程序

//ÍøÂçÉ豸Çý¶¯ #include "esp8266.h" //Ó²¼þÇý¶¯ #include "delay.h" #include "oled.h" #include "led.h" //C¿â #include <string.h> #include <stdio.h> unsigned char esp8266_buf[buf_len]; unsigned char data_buf[buf_len]; unsigned short esp8266_cnt = 0; unsigned short esp8266_cntPre = 0; extern char Flagout; //========================================================== // º¯ÊýÃû³Æ£º ESP8266_Clear // // º¯Êý¹¦ÄÜ£º Çå¿Õ»º´æ // // Èë¿Ú²ÎÊý£º ÎÞ // // ·µ»Ø²ÎÊý£º ÎÞ // // ˵Ã÷£º //========================================================== void ESP8266_Clear(void) { memset(esp8266_buf, 0, sizeof(esp8266_buf)); esp8266_cnt = 0; } //========================================================== // º¯ÊýÃû³Æ£º ESP8266_Init // // º¯Êý¹¦ÄÜ£º ³õʼ»¯ESP8266 // // Èë¿Ú²ÎÊý£º ÎÞ // // ·µ»Ø²ÎÊý£º ÎÞ // // ˵Ã÷£º //========================================================= void ESP8266_Init(unsigned int bound) { #if Bamfa_USART1 //GPIO¶Ë¿ÚÉèÖà GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA, ENABLE); //ʹÄÜUSART1£¬GPIOAʱÖÓ //USART1_TX GPIOA.9 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍìÊä³ö GPIO_Init(GPIOA, &GPIO_InitStructure);//³õʼ»¯GPIOA.9 //USART1_RX GPIOA.10³õʼ»¯ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;//PA10 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//¸¡¿ÕÊäÈë GPIO_Init(GPIOA, &GPIO_InitStructure);//³õʼ»¯GPIOA.10 //Usart1 NVIC ÅäÖà NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//ÇÀÕ¼ÓÅÏȼ¶3 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //×ÓÓÅÏȼ¶3 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQͨµÀʹÄÜ NVIC_Init(&NVIC_InitStructure); //¸ù¾ÝÖ¸¶¨µÄ²ÎÊý³õʼ»¯VIC¼Ä´æÆ÷ //USART ³õʼ»¯ÉèÖà USART_InitStructure.USART_BaudRate = bound;//´®¿Ú²¨ÌØÂÊ USART_InitStructure.USART_WordLength = USART_WordLength_8b;//×Ö³¤Îª8λÊý¾Ý¸ñʽ USART_InitStructure.USART_StopBits = USART_StopBits_1;//Ò»¸öֹͣλ USART_InitStructure.USART_Parity = USART_Parity_No;//ÎÞÆæÅ¼Ð£Ñéλ USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//ÎÞÓ²¼þÊý¾ÝÁ÷¿ØÖÆ USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //ÊÕ·¢Ä£Ê½ USART_Init(USART1, &USART_InitStructure); //³õʼ»¯´®¿Ú1 USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//¿ªÆô´®¿Ú½ÓÊÜÖÐ¶Ï USART_Cmd(USART1, ENABLE); //ʹÄÜ´®¿Ú1 #elif Bamfa_USART2 GPIO_InitTypeDef gpio_initstruct; USART_InitTypeDef usart_initstruct; NVIC_InitTypeDef nvic_initstruct; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); //PA2 TXD gpio_initstruct.GPIO_Mode = GPIO_Mode_AF_PP; gpio_initstruct.GPIO_Pin = GPIO_Pin_2; gpio_initstruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &gpio_initstruct); //PA3 RXD gpio_initstruct.GPIO_Mode = GPIO_Mode_IN_FLOATING; gpio_initstruct.GPIO_Pin = GPIO_Pin_3; gpio_initstruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &gpio_initstruct); usart_initstruct.USART_BaudRate = bound; usart_initstruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //ÎÞÓ²¼þÁ÷¿Ø usart_initstruct.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //½ÓÊպͷ¢ËÍ usart_initstruct.USART_Parity = USART_Parity_No; //ÎÞУÑé usart_initstruct.USART_StopBits = USART_StopBits_1; //1λֹͣλ usart_initstruct.USART_WordLength = USART_WordLength_8b; //8λÊý¾Ýλ USART_Init(USART2, &usart_initstruct); USART_Cmd(USART2, ENABLE); //ʹÄÜ´®¿Ú USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); //ʹÄܽÓÊÕÖÐ¶Ï nvic_initstruct.NVIC_IRQChannel = USART2_IRQn; nvic_initstruct.NVIC_IRQChannelCmd = ENABLE; nvic_initstruct.NVIC_IRQChannelPreemptionPriority = 1; nvic_initstruct.NVIC_IRQChannelSubPriority = 0; NVIC_Init(&nvic_initstruct); #elif Bamfa_USART3 NVIC_InitTypeDef NVIC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); // GPIOBʱÖÓ RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE); USART_DeInit(USART3); //¸´Î»´®? //USART2_TX PB10 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PB10 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍìÊä³ö GPIO_Init(GPIOB, &GPIO_InitStructure); //³õʼ»¯PB10 //USART3_RX PB11 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//¸¡¿ÕÊäÈë GPIO_Init(GPIOB, &GPIO_InitStructure); //³õʼ»¯PB11 USART_InitStructure.USART_BaudRate = bound;//Ò»°ãÉèÖÃΪ9600; USART_InitStructure.USART_WordLength = USART_WordLength_8b;//×Ö³¤Îª8λÊý¾Ý¸ñʽ USART_InitStructure.USART_StopBits = USART_StopBits_1;//Ò»¸öֹͣλ USART_InitStructure.USART_Parity = USART_Parity_No;//ÎÞÆæÅ¼Ð£Ñéλ USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//ÎÞÓ²¼þÊý¾ÝÁ÷¿ØÖÆ USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //ÊÕ·¢Ä£Ê½ USART_Init(USART3, &USART_InitStructure); //³õʼ»¯´®¿Ú 3 USART_Cmd(USART3, ENABLE); //ʹÄÜ´®¿Ú //ʹÄܽÓÊÕÖÐ¶Ï USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);//¿ªÆôÖÐ¶Ï NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;//ÇÀÕ¼ÓÅÏȼ¶2 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //×ÓÓÅÏȼ¶0 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQͨµÀʹÄÜ NVIC_Init(&NVIC_InitStructure); //¸ù¾ÝÖ¸¶¨µÄ²ÎÊý³õʼ»¯VIC¼Ä´æÆ÷ #endif GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(ESP01S_RST_RCC_CLK, ENABLE); //ʹÄÜA¶Ë¿ÚʱÖÓ GPIO_InitStructure.GPIO_Pin = ESP01S_RST_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //ÍÆÍìÊä³ö GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//ËÙ¶È50MHz GPIO_Init(ESP01S_RST_PROT, &GPIO_InitStructure); //³õʼ»¯GPIOA GPIO_ResetBits(ESP01S_RST_PROT,ESP01S_RST_PIN);//esp8266µÍµçƽ¸´Î» delay_ms(200); GPIO_SetBits(ESP01S_RST_PROT,ESP01S_RST_PIN); ESP8266_Clear(); OLED_ShowCHinese(0, 3,15);//Õý OLED_ShowCHinese(18,3,16);//ÔÚ OLED_ShowCHinese(36,3,17);//Á¬ OLED_ShowCHinese(54,3,18);//½Ó OLED_ShowString (72,3,"WIFI",16); OLED_ShowString (108,3,"..",16); OLED_ShowCHinese(0, 6, 19);//½ø OLED_ShowCHinese(18,6, 20);//¶È OLED_ShowCHinese(36,6,21);//£º // printf("1. AT\r\n"); OLED_ShowString(44,6,"10%",16); while(ESP8266_SendCmd("AT\r\n","OK")&&Flagout) delay_ms(100); // printf("2. CWMODE\r\n"); OLED_ShowString(44,6,"20%",16); while(ESP8266_SendCmd("AT+CWMODE=3\r\n", "OK")&&Flagout) delay_ms(100); // printf( "3. Á¬½Ó·ÓÉÆ÷¡£\r\n"); OLED_ShowString(44,6,"30%",16); while(ESP8266_SendCmd(ESP8266_WIFI_INFO, "OK")&&Flagout) delay_ms(100); // printf("4. ¿ªÆô͸Ã÷´«Êäģʽ¡£\r\n"); OLED_ShowString(44,6,"30%",16); while(ESP8266_SendCmd("AT+CIPMODE=1\r\n", "OK")&&Flagout) delay_ms(100); // printf( "5. Á¬½Ó°Í·¨ÔÆ¡£\r\n"); OLED_ShowString(44,6,"50%",16); while(ESP8266_SendCmd(ESP8266_ONENET_INFO, "CONNECT")&&Flagout) delay_ms(100); // printf( "6. ½øÈë͸´«Ä£Ê½£¬ÏÂÃæ·¢µÄ¶¼»áÎÞÌõ¼þ´«Êä¡£\r\n"); OLED_ShowString(44,6,"80%",16); while(ESP8266_SendCmd("AT+CIPSEND\r\n", "OK")&&Flagout) delay_ms(100); // printf( "7.¶©ÔÄÖ÷Ìâ¡£\r\n"); OLED_ShowString(44,6,"90%",16); while(ESP8266_SendCmd(ESP8266_TOPIC, "cmd=1&res=1")&&Flagout) delay_ms(100); Flagout=3; // printf("8. ESP8266 ³õʼ»¯Íê³É£¡\r\n"); OLED_ShowString(44,6,"100%",16); Flagout=0; delay_ms(2000); ESP8266_Clear(); OLED_Clear(0); } //========================================================== // º¯ÊýÃû³Æ£º ESP8266_WaitRecive // // º¯Êý¹¦ÄÜ£º µÈ´ý½ÓÊÕÍê³É // // Èë¿Ú²ÎÊý£º ÎÞ // // ·µ»Ø²ÎÊý£º REV_OK-½ÓÊÕÍê³É REV_WAIT-½ÓÊÕ³¬Ê±Î´Íê³É // // ˵Ã÷£º Ñ­»·µ÷Óüì²âÊÇ·ñ½ÓÊÕÍê³É //========================================================== _Bool ESP8266_WaitRecive(void) { if(esp8266_cnt == 0) //Èç¹û½ÓÊÕ¼ÆÊýΪ0 Ôò˵Ã÷ûÓд¦ÓÚ½ÓÊÕÊý¾ÝÖУ¬ËùÒÔÖ±½ÓÌø³ö£¬½áÊøº¯Êý return REV_WAIT; if(esp8266_cnt == esp8266_cntPre) //Èç¹ûÉÏÒ»´ÎµÄÖµºÍÕâ´ÎÏàͬ£¬Ôò˵Ã÷½ÓÊÕÍê±Ï { esp8266_cnt = 0; //Çå0½ÓÊÕ¼ÆÊý return REV_OK; //·µ»Ø½ÓÊÕÍê³É±êÖ¾ } esp8266_cntPre = esp8266_cnt; //ÖÃΪÏàͬ return REV_WAIT; //·µ»Ø½ÓÊÕδÍê³É±êÖ¾ } /************************************************************ * º¯ÊýÃû³Æ£º Usart_SendString * * º¯Êý¹¦ÄÜ£º ´®¿ÚÊý¾Ý·¢ËÍ * * Èë¿Ú²ÎÊý£º USARTx£º´®¿Ú×é * str£ºÒª·¢Ë͵ÄÊý¾Ý * len£ºÊý¾Ý³¤¶È * * ·µ»Ø²ÎÊý£º ÎÞ * * ˵Ã÷£º ************************************************************ */ void Usart_SendString(USART_TypeDef *USARTx, unsigned char *str, unsigned short len) { unsigned short count = 0; for(; count < len; count++) { USART_SendData(USARTx, *str++); //·¢ËÍÊý¾Ý while(USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET); //µÈ´ý·¢ËÍÍê³É } } //========================================================== // º¯ÊýÃû³Æ£º ESP8266_SendCmd // // º¯Êý¹¦ÄÜ£º ·¢ËÍÃüÁî // // Èë¿Ú²ÎÊý£º cmd£ºÃüÁî // res£ºÐèÒª¼ì²éµÄ·µ»ØÖ¸Áî // // ·µ»Ø²ÎÊý£º 0-³É¹¦ 1-ʧ°Ü // // ˵Ã÷£º //========================================================== _Bool ESP8266_SendCmd(char *cmd, char *res) { unsigned char timeOut = 200; Usart_SendString(Bamfa_USART, (unsigned char *)cmd, strlen((const char *)cmd)); while(timeOut--) { if(ESP8266_WaitRecive() == REV_OK) //Èç¹ûÊÕµ½Êý¾Ý { if(strstr((const char *)esp8266_buf, res) != NULL) //Èç¹û¼ìË÷µ½¹Ø¼ü´Ê { ESP8266_Clear(); //Çå¿Õ»º´æ return 0; } } delay_ms(10); } return 1; } //========================================================== // º¯ÊýÃû³Æ£º ESP8266_SendData // // º¯Êý¹¦ÄÜ£º ·¢ËÍÊý¾Ý // // Èë¿Ú²ÎÊý£º data£ºÊý¾Ý // len£º³¤¶È // // ·µ»Ø²ÎÊý£º ÎÞ // // ˵Ã÷£º //========================================================== void ESP8266_SendData(unsigned char *data) { ESP8266_Clear(); //Çå¿Õ½ÓÊÕ»º´æ Usart_SendString(Bamfa_USART, (unsigned char *)data, strlen((const char *)data)); //·¢ËÍÉ豸Á¬½ÓÇëÇóÊý¾Ý } //========================================================== // º¯ÊýÃû³Æ£º USART2_IRQHandler // // º¯Êý¹¦ÄÜ£º ´®¿Ú2ÊÕ·¢ÖÐ¶Ï // // Èë¿Ú²ÎÊý£º ÎÞ // // ·µ»Ø²ÎÊý£º ÎÞ // // ˵Ã÷£º //========================================================== #if Bamfa_USART1 void USART1_IRQHandler(void) { if(USART_GetITStatus(Bamfa_USART, USART_IT_RXNE) != RESET) //½ÓÊÕÖÐ¶Ï { if(esp8266_cnt >= sizeof(esp8266_buf)) esp8266_cnt = 0; //·ÀÖ¹´®¿Ú±»Ë¢±¬ esp8266_buf[esp8266_cnt++] = USART_ReceiveData(Bamfa_USART); } USART_ClearFlag(Bamfa_USART, USART_FLAG_RXNE); } #elif Bamfa_USART2 void USART2_IRQHandler(void) { if(USART_GetITStatus(Bamfa_USART, USART_IT_RXNE) != RESET) //½ÓÊÕÖÐ¶Ï { if(esp8266_cnt >= sizeof(esp8266_buf)) esp8266_cnt = 0; //·ÀÖ¹´®¿Ú±»Ë¢±¬ esp8266_buf[esp8266_cnt++] = USART_ReceiveData(Bamfa_USART); } USART_ClearFlag(Bamfa_USART, USART_FLAG_RXNE); } #elif Bamfa_USART3 void USART3_IRQHandler(void) { if(USART_GetITStatus(Bamfa_USART, USART_IT_RXNE) != RESET) //½ÓÊÕÖÐ¶Ï { if(esp8266_cnt >= sizeof(esp8266_buf)) esp8266_cnt = 0; //·ÀÖ¹´®¿Ú±»Ë¢±¬ esp8266_buf[esp8266_cnt++] = USART_ReceiveData(Bamfa_USART); } USART_ClearFlag(Bamfa_USART, USART_FLAG_RXNE); } #endif 帮我根据以上代码生成流程框图

#include "control.h" #include "Lidar.h" float Move_X = 0, Move_Z = 0; // Ä¿±êËٶȺÍÄ¿±êתÏòËÙ¶È float PWM_Left, PWM_Right; // ×óÓÒµç»úPWMÖµ float RC_Velocity, RC_Turn_Velocity; // Ò£¿Ø¿ØÖƵÄËÙ¶È u8 Mode = Normal_Mode; // ģʽѡÔñ£¬Ä¬ÈÏÊÇÆÕͨµÄ¿ØÖÆÄ£Ê½ Motor_parameter MotorA, MotorB; // ×óÓÒµç»úÏà¹Ø±äÁ¿ int Servo_PWM = SERVO_INIT; // °¢¿ËÂü¶æ»úÏà¹Ø±äÁ¿ u8 Lidar_Detect = Lidar_Detect_ON; // µç´ÅѲÏßģʽÀ×´ï¼ì²âÕϰ­ÎĬÈÏ¿ªÆô float CCD_Move_X = 0.3; // CCDѲÏßËÙ¶È float ELE_Move_X = 0.3; // µç´ÅѲÏßËÙ¶È u8 Ros_count = 0, Lidar_flag_count = 0; u8 cnt = 0; Encoder OriginalEncoder; // Encoder raw data //±àÂëÆ÷ԭʼÊý¾Ý short Accel_Y, Accel_Z, Accel_X, Accel_Angle_x, Accel_Angle_y, Gyro_X, Gyro_Z, Gyro_Y; int forward_cnt = 800; int left_cnt = 120; int right_cnt = 125; int stop_cnt = 200; int stop_flag = 0; int mode_cnt = 0; int state_cnt = 0; int stop_protect = 0; /************************************************************************** Function: Control Function Input : none Output : none º¯Êý¹¦ÄÜ£º5ms¶¨Ê±ÖжϿØÖƺ¯Êý Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void forward(){ MotorA.Motor_Pwm = 1999; MotorB.Motor_Pwm = 2040; } void left(){ MotorA.Motor_Pwm = 0; MotorB.Motor_Pwm = 2050; } void right(){ MotorA.Motor_Pwm = 1999; MotorB.Motor_Pwm = 0; } void stop(){ MotorA.Motor_Pwm = 0; MotorB.Motor_Pwm = 0; } void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if (htim == &htim5) { Get_KeyVal(); if(mode_cnt == 0) stop(); //ģʽһ if(mode_cnt == 1){ if(forward_cnt > 0){ forward(); forward_cnt--; // if(left_cnt > 0){ // left(); // left_cnt--; // if(right_cnt > 0){ // right(); // right_cnt--; } else{ stop(); } } //ģʽ¶þ else if(mode_cnt == 2){ if(forward_cnt > 0){ forward(); forward_cnt--; } else if(stop_cnt > 0 && forward_cnt == 0){ stop(); stop_cnt--; } else if(stop_cnt == 0 && stop_flag == 0){ forward_cnt = 800; stop_flag = 1; } else{ stop(); } } //ģʽÈý else if(mode_cnt == 3){ if(forward_cnt > 0 && state_cnt == 0){//µÚ1״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else if(right_cnt > 0 && state_cnt == 1){//µÚ2״̬£ºÓÒת right(); right_cnt--; } else if(forward_cnt > 0 && state_cnt == 2){//µÚ3״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else if(left_cnt > 0 && state_cnt == 3){//µÚ4״̬£º×óת left(); left_cnt--; } else if(forward_cnt > 0 && state_cnt == 4){//µÚ5״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else if(left_cnt > 0 && state_cnt == 5){//µÚ6״̬£º×óת left(); left_cnt--; } else if(forward_cnt > 0 && state_cnt == 6){//µÚ7״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else{ if(stop_protect == 0 && stop_cnt == 0){ stop_cnt = 100; stop_protect = 1; } else if(stop_cnt > 0){ stop(); stop_cnt--; } else if(stop_protect == 1 && stop_cnt == 0){ stop_protect = 0; if(state_cnt == 0){//״̬1Çл»×´Ì¬2 state_cnt++; right_cnt = 125; } else if(state_cnt == 1){//״̬2Çл»×´Ì¬3 state_cnt++; forward_cnt = 585; } else if(state_cnt == 2){//״̬3Çл»×´Ì¬4 state_cnt++; left_cnt = 120; } else if(state_cnt == 3){//״̬4Çл»×´Ì¬5 state_cnt++; forward_cnt = 585; } else if(state_cnt == 4){//״̬5Çл»×´Ì¬6 state_cnt++; left_cnt = 120; } else if(state_cnt == 5){//״̬6Çл»×´Ì¬7 state_cnt++; forward_cnt = 585; } } } } Set_Pwm(-MotorA.Motor_Pwm, MotorB.Motor_Pwm); // Çý¶¯µç»ú } } /************************************************************************** Function: Bluetooth_Control Input : none Output : none º¯Êý¹¦ÄÜ£ºÊÖ»úÀ¶ÑÀ¿ØÖÆ Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Bluetooth_Control(void) { if (Flag_Direction == 0) Move_X = 0, Move_Z = 0; // Í£Ö¹ else if (Flag_Direction == 1) Move_X = RC_Velocity, Move_Z = 0; // ǰ½ø else if (Flag_Direction == 2) Move_X = RC_Velocity, Move_Z = Pi / 2; // ÓÒǰ else if (Flag_Direction == 3) Move_X = 0, Move_Z = Pi / 2; // ÏòÓÒ else if (Flag_Direction == 4) Move_X = -RC_Velocity, Move_Z = Pi / 2; // ÓÒºó else if (Flag_Direction == 5) Move_X = -RC_Velocity, Move_Z = 0; // ºóÍË else if (Flag_Direction == 6) Move_X = -RC_Velocity, Move_Z = -Pi / 2; // ×óºó else if (Flag_Direction == 7) Move_X = 0, Move_Z = -Pi / 2; // Ïò×ó else if (Flag_Direction == 8) Move_X = RC_Velocity, Move_Z = -Pi / 2; // ×óǰ else Move_X = 0, Move_Z = 0; if (Car_Num == Akm_Car) { // Ackermann structure car is converted to the front wheel steering Angle system target value, and kinematics analysis is pearformed // °¢¿ËÂü½á¹¹Ð¡³µ×ª»»ÎªÇ°ÂÖתÏò½Ç¶È Move_Z = Move_Z * 2 / 10; } Move_X = Move_X / 1000; Move_Z = -Move_Z; // ת»»ÎªËÙ¶ÈתΪm/s } /************************************************************************** Function: PS2_Control Input : none Output : none º¯Êý¹¦ÄÜ£ºPS2ÊÖ±ú¿ØÖÆ Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void PS2_Control(void) { int LY, RX; // ÊÖ±úADCµÄÖµ int Threshold = 20; // ãÐÖµ£¬ºöÂÔÒ¡¸ËС·ù¶È¶¯×÷ static u8 Key1_Count = 0, Key2_Count = 0; // ÓÃÓÚ¿ØÖƶÁȡҡ¸ËµÄËÙ¶È // ת»¯Îª128µ½-128µÄÊýÖµ LY = -(PS2_LY - 128); // ×ó±ßYÖá¿ØÖÆÇ°½øºóÍË RX = -(PS2_RX - 128); // ÓÒ±ßXÖá¿ØÖÆ×ªÏò if (LY > -Threshold && LY < Threshold) LY = 0; if (RX > -Threshold && RX < Threshold) RX = 0; // ºöÂÔÒ¡¸ËС·ù¶È¶¯×÷ Move_X = (RC_Velocity / 128) * LY; // ËÙ¶È¿ØÖÆ£¬Á¦¶È±íʾËÙ¶È´óС if (Car_Num == Akm_Car) // °¢¿ËÂü³µ×ªÏò¿ØÖÆ£¬Á¦¶È±íʾתÏò½Ç¶È Move_Z = -(RC_Turn_Velocity / 128) * RX; else // ÆäËû³µÐÍתÏò¿ØÖÆ { if (Move_X >= 0) Move_Z = -(RC_Turn_Velocity / 128) * RX; // תÏò¿ØÖÆ£¬Á¦¶È±íʾתÏòËÙ¶È else Move_Z = (RC_Turn_Velocity / 128) * RX; } if (PS2_KEY == PSB_L1) // °´ÏÂ×ó1¼ü¼ÓËÙ£¨°´¼üÔÚ¶¥ÉÏ£© { if ((++Key1_Count) == 20) // µ÷½Ú°´¼ü·´Ó¦ËÙ¶È { PS2_KEY = 0; Key1_Count = 0; if ((RC_Velocity += X_Step) > MAX_RC_Velocity) // ǰ½ø×î´óËÙ¶È800mm/s RC_Velocity = MAX_RC_Velocity; if (Car_Num != Akm_Car) // ·Ç°¢¿ËÂü³µ¿Éµ÷½ÚתÏòËÙ¶È { if ((RC_Turn_Velocity += Z_Step) > MAX_RC_Turn_Bias) // תÏò×î´óËÙ¶È325 RC_Turn_Velocity = MAX_RC_Turn_Bias; } } } else if (PS2_KEY == PSB_R1) // °´ÏÂÓÒ1¼ü¼õËÙ { if ((++Key2_Count) == 20) { PS2_KEY = 0; Key2_Count = 0; if ((RC_Velocity -= X_Step) < MINI_RC_Velocity) // ǰºó×îСËÙ¶È210mm/s RC_Velocity = MINI_RC_Velocity; if (Car_Num != Akm_Car) // ·Ç°¢¿ËÂü³µ¿Éµ÷½ÚתÏòËÙ¶È { if ((RC_Turn_Velocity -= Z_Step) < MINI_RC_Turn_Velocity) // תÏò×îСËÙ¶È45 RC_Turn_Velocity = MINI_RC_Turn_Velocity; } } } else Key2_Count = 0, Key2_Count = 0; // ¶ÁÈ¡µ½ÆäËû°´¼üÖØÐ¼ÆÊý Move_X = Move_X / 1000; Move_Z = -Move_Z; // ËÙ¶ÈMove_XתΪm/s } /************************************************************************** Function: Get_Velocity_From_Encoder Input : none Output : none º¯Êý¹¦ÄÜ£º¶ÁÈ¡±àÂëÆ÷ºÍת»»³ÉËÙ¶È Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Get_Velocity_From_Encoder(void) { // Retrieves the original data of the encoder // »ñÈ¡±àÂëÆ÷µÄԭʼÊý¾Ý float Encoder_A_pr, Encoder_B_pr; OriginalEncoder.A = Read_Encoder(Encoder1); OriginalEncoder.B = Read_Encoder(Encoder2); // Decide the encoder numerical polarity according to different car models // ¸ù¾Ý²»Í¬Ð¡³µÐͺžö¶¨±àÂëÆ÷ÊýÖµ¼«ÐÔ switch (Car_Num) { case Akm_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; case Diff_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; case Small_Tank_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; case Big_Tank_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; } // The encoder converts the raw data to wheel speed in m/s // ±àÂëÆ÷ԭʼÊý¾Ýת»»Îª³µÂÖËÙ¶È£¬µ¥Î»m/s MotorA.Current_Encoder = Encoder_A_pr * Frequency * Perimeter / 60000.0f; // 60000 = 4*500*30 MotorB.Current_Encoder = Encoder_B_pr * Frequency * Perimeter / 60000.0f; // 1560=4*13*30=2£¨Á½Â·Âö³å£©*2£¨ÉÏÏÂÑØ¼ÆÊý£©*»ô¶û±àÂëÆ÷13Ïß*µç»úµÄ¼õËÙ±È // MotorA.Current_Encoder= Encoder_A_pr*CONTROL_FREQUENCY*Akm_wheelspacing//(4*13*30); // MotorB.Current_Encoder= Encoder_B_pr*CONTROL_FREQUENCY*Akm_wheelspacing/Encoder_precision; } /************************************************************************** Function: Drive_Motor Input : none Output : none º¯Êý¹¦ÄÜ£ºÔ˶¯Ñ§Äæ½â Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ // Ô˶¯Ñ§Äæ½â£¬ÓÉxºÍyµÄËٶȵõ½±àÂëÆ÷µÄËÙ¶È,VxÊÇm/s,Vzµ¥Î»ÊǶÈ/s(½Ç¶ÈÖÆ) // °¢¿ËÂü³µVzÊǶæ»úתÏòµÄ½Ç¶È(»¡¶ÈÖÆ) void Get_Target_Encoder(float Vx, float Vz) { float MotorA_Velocity, MotorB_Velocity; float amplitude = 3.5f; // Wheel target speed limit //³µÂÖÄ¿±êËÙ¶ÈÏÞ·ù Move_X = target_limit_float(Move_X, -1.2, 1.2); Move_Z = target_limit_float(Move_Z, -Pi / 3, Pi / 3); if (Car_Num == Akm_Car) // °¢¿ËÂü³µ { // Ackerman car specific related variables //°¢¿ËÂüС³µ×¨ÓÃÏà¹Ø±äÁ¿ float R, ratio = 636.56, AngleR, Angle_Servo; // For Ackerman small car, Vz represents the front wheel steering Angle // ¶ÔÓÚ°¢¿ËÂüС³µVz´ú±íÓÒǰÂÖתÏò½Ç¶È AngleR = Vz; R = Akm_axlespacing / tan(AngleR) - 0.5f * Wheelspacing; // Front wheel steering Angle limit (front wheel steering Angle controlled by steering engine), unit: rad // ǰÂÖתÏò½Ç¶ÈÏÞ·ù(¶æ»ú¿ØÖÆÇ°ÂÖתÏò½Ç¶È)£¬µ¥Î»£ºrad AngleR = target_limit_float(AngleR, -0.49f, 0.32f); // Inverse kinematics //Ô˶¯Ñ§Äæ½â if (AngleR != 0) { MotorA.Target_Encoder = Vx * (R - 0.081f) / R; MotorB.Target_Encoder = Vx * (R + 0.081f) / R; } else { MotorA.Target_Encoder = Vx; MotorB.Target_Encoder = Vx; } // The PWM value of the servo controls the steering Angle of the front wheel // ¶æ»úPWMÖµ£¬¶æ»ú¿ØÖÆÇ°ÂÖתÏò½Ç¶È Angle_Servo = -0.628f * pow(AngleR, 3) + 1.269f * pow(AngleR, 2) - 1.772f * AngleR + 1.573f; Servo_PWM = SERVO_INIT + (Angle_Servo - 1.572f) * ratio; // printf("%d\r\n",Servo_PWM); // Wheel (motor) target speed limit //³µÂÖ(µç»ú)Ä¿±êËÙ¶ÈÏÞ·ù MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); Servo_PWM = target_limit_int(Servo_PWM, 800, 2200); // Servo PWM value limit //¶æ»úPWMÖµÏÞ·ù } else if (Car_Num == Diff_Car) // ²îËÙС³µ { if (Vx < 0) Vz = -Vz; else Vz = Vz; // Inverse kinematics //Ô˶¯Ñ§Äæ½â MotorA.Target_Encoder = Vx - Vz * Wheelspacing / 2.0f; // ¼ÆËã³ö×óÂÖµÄÄ¿±êËÙ¶È MotorB.Target_Encoder = Vx + Vz * Wheelspacing / 2.0f; // ¼ÆËã³öÓÒÂÖµÄÄ¿±êËÙ¶È // Wheel (motor) target speed limit //³µÂÖ(µç»ú)Ä¿±êËÙ¶ÈÏÞ·ù MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); } else if (Car_Num == Small_Tank_Car) { if (Vx < 0) Vz = -Vz; else Vz = Vz; MotorA.Target_Encoder = Vx - Vz * Wheelspacing / 2.0f; // ¼ÆËã³ö×óÂÖµÄÄ¿±êËÙ¶È MotorB.Target_Encoder = Vx + Vz * Wheelspacing / 2.0f; // ¼ÆËã³öÓÒÂÖµÄÄ¿±êËÙ¶È // Wheel (motor) target speed limit //³µÂÖ(µç»ú)Ä¿±êËÙ¶ÈÏÞ·ù MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); } else if (Car_Num == Big_Tank_Car) { if (Vx < 0) Vz = -Vz; else Vz = Vz; MotorA.Target_Encoder = Vx - Vz * Wheelspacing / 2.0f; // ¼ÆËã³ö×óÂÖµÄÄ¿±êËÙ¶È MotorB.Target_Encoder = Vx + Vz * Wheelspacing / 2.0f; // ¼ÆËã³öÓÒÂÖµÄÄ¿±êËÙ¶È MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); } } /************************************************************************** Function: Get_Motor_PWM Input : none Output : none º¯Êý¹¦ÄÜ£º×ª»»³ÉÇý¶¯µç»úµÄPWM Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Get_Motor_PWM(void) { // ¼ÆËã×óÓÒµç»ú¶ÔÓ¦µÄPWM MotorA.Motor_Pwm = Incremental_PI_Left(MotorA.Current_Encoder, MotorA.Target_Encoder); MotorB.Motor_Pwm = Incremental_PI_Right(MotorB.Current_Encoder, MotorB.Target_Encoder); if (Mode == Normal_Mode || Mode == Measure_Distance_Mode) { // Â˲¨£¬Ê¹Æð²½ºÍÍ£Ö¹ÉÔ΢ƽ»¬Ò»Ð© MotorA.Motor_Pwm = Mean_Filter_Left(MotorA.Motor_Pwm); MotorB.Motor_Pwm = Mean_Filter_Right(MotorB.Motor_Pwm); } // ÏÞ·ù MotorA.Motor_Pwm = PWM_Limit(MotorA.Motor_Pwm, PWM_MAX, PWM_MIN); MotorB.Motor_Pwm = PWM_Limit(MotorB.Motor_Pwm, PWM_MAX, PWM_MIN); } /************************************************************************** Function: PWM_Limit Input : IN;max;min Output : OUT º¯Êý¹¦ÄÜ£ºÏÞÖÆPWM¸³Öµ Èë¿Ú²ÎÊý: IN£ºÊäÈë²ÎÊý max£ºÏÞ·ù×î´óÖµ min£ºÏÞ·ù×îСֵ ·µ»Ø Öµ£ºÏÞ·ùºóµÄÖµ **************************************************************************/ float PWM_Limit(float IN, int max, int min) { float OUT = IN; if (OUT > max) OUT = max; if (OUT < min) OUT = min; return OUT; } /************************************************************************** Function: Limiting function Input : Value Output : none º¯Êý¹¦ÄÜ£ºÏÞ·ùº¯Êý Èë¿Ú²ÎÊý£º·ùÖµ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ float target_limit_float(float insert, float low, float high) { if (insert < low) return low; else if (insert > high) return high; else return insert; } int target_limit_int(int insert, int low, int high) { if (insert < low) return low; else if (insert > high) return high; else return insert; } /************************************************************************** Function: Check whether it is abnormal Input : none Output : 1:Abnormal;0:Normal º¯Êý¹¦ÄÜ£ºÒì³£¹Ø±Õµç»ú Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£º1£ºÒì³£ 0£ºÕý³£ **************************************************************************/ u8 Turn_Off(void) { u8 temp = Normal; Flag_Stop = KEY2_STATE; // ¶ÁÈ¡°´¼ü2״̬£¬°´¼ü2¿ØÖƵç»úµÄ¿ª¹Ø if (Voltage < 1000) // µç³ØµçѹµÍÓÚ10V¹Ø±Õµç»ú,LEDµÆ¿ìËÙÉÁ˸ LED_Flash(50), temp = Abnormal; else LED_Flash(200); // ÿһÃëÉÁÒ»´Î£¬Õý³£ÔËÐÐ if (Flag_Stop) temp = Abnormal; return temp; } /************************************************************************** Function: Data sliding filtering Input : data Output : Filtered data º¯Êý¹¦ÄÜ£ºÊý¾Ý»¬¶¯Â˲¨ Èë¿Ú²ÎÊý£ºÊý¾Ý ·µ»Ø Öµ£ºÂ˲¨ºóµÄÊý¾Ý **************************************************************************/ float Mean_Filter_Left(float data) { u8 i; float Sum_Data = 0; float Filter_Data; static float Speed_Buf[FILTERING_TIMES] = {0}; for (i = 1; i < FILTERING_TIMES; i++) { Speed_Buf[i - 1] = Speed_Buf[i]; } Speed_Buf[FILTERING_TIMES - 1] = data; for (i = 0; i < FILTERING_TIMES; i++) { Sum_Data += Speed_Buf[i]; } Filter_Data = (s32)(Sum_Data / FILTERING_TIMES); return Filter_Data; } /************************************************************************** Function: Data sliding filtering Input : data Output : Filtered data º¯Êý¹¦ÄÜ£ºÊý¾Ý»¬¶¯Â˲¨ Èë¿Ú²ÎÊý£ºÊý¾Ý ·µ»Ø Öµ£ºÂ˲¨ºóµÄÊý¾Ý **************************************************************************/ float Mean_Filter_Right(float data) { u8 i; float Sum_Data = 0; float Filter_Data; static float Speed_Buf[FILTERING_TIMES] = {0}; for (i = 1; i < FILTERING_TIMES; i++) { Speed_Buf[i - 1] = Speed_Buf[i]; } Speed_Buf[FILTERING_TIMES - 1] = data; for (i = 0; i < FILTERING_TIMES; i++) { Sum_Data += Speed_Buf[i]; } Filter_Data = (s32)(Sum_Data / FILTERING_TIMES); return Filter_Data; } /************************************************************************** Function: Lidar_Avoid Input : none Output : none º¯Êý¹¦ÄÜ£ºÀ×´ï±ÜÕÏģʽ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Lidar_Avoid(void) { int i = 0; u8 calculation_angle_cnt = 0; // ÓÃÓÚÅжÏ100¸öµãÖÐÐèÒª×ö±ÜÕϵĵã float angle_sum = 0; // ´ÖÂÔ¼ÆËãÕϰ­ÎïλÓÚ×ó»òÕßÓÒ u8 distance_count = 0; // ¾àÀëСÓÚijֵµÄ¼ÆÊý int distance = 350; // É趨±ÜÕϾàÀë,ĬÈÏÊÇ300 if (Car_Num == Akm_Car) distance = 400; // °¢¿ËÂü³µÉ趨ÊÇ400mm else if (Car_Num == Big_Tank_Car) distance = 500; // ´óÂÄ´ø³µÉ趨ÊÇ500mm for (i = 0; i < lap_count; i++) { if ((Dataprocess[i].angle > 310) || (Dataprocess[i].angle < 50)) { if ((0 < Dataprocess[i].distance) && (Dataprocess[i].distance < distance)) // ¾àÀëСÓÚ350mmÐèÒª±ÜÕÏ,Ö»ÐèÒª100¶È·¶Î§ÄÚµã { calculation_angle_cnt++; // ¼ÆËã¾àÀëСÓÚ±ÜÕϾàÀëµÄµã¸öÊý if (Dataprocess[i].angle < 50) angle_sum += Dataprocess[i].angle; else if (Dataprocess[i].angle > 310) angle_sum += (Dataprocess[i].angle - 360); // 310¶Èµ½50¶Èת»¯Îª-50¶Èµ½50¶È if (Dataprocess[i].distance < 200) // ¼Ç¼СÓÚ200mmµÄµãµÄ¼ÆÊý distance_count++; } } } if (calculation_angle_cnt < 8) // СÓÚ8µã²»ÐèÒª±ÜÕÏ£¬È¥³ýһЩÔëµã { if ((Move_X += 0.1) >= Aovid_Speed) // ±ÜÕϵÄËÙ¶ÈÉ趨Ϊ260£¬Öð½¥Ôö¼Óµ½260¿ÉÉÔ΢ƽ»¬Ò»Ð© Move_X = Aovid_Speed; Move_Z = 0; // ²»±ÜÕÏʱ²»ÐèҪתÍä } else // ÐèÒª±ÜÕÏ£¬¼òµ¥µØÅжÏÕϰ­Î﷽λ { if (Car_Num == Akm_Car) // °¢¿ËÂü³µÐÍÓжæ»ú£¬ÐèÒªÌØÊâ´¦Àí { if (distance_count > 8) // ¾àÀëСÓÚ±ÜÕ½¾àÀë Move_X = -Aovid_Speed, Move_Z = 0; // ÍùºóÍË else { if ((Move_X -= 0.1) <= (Aovid_Speed * 0.5)) // ±ÜÕÏʱËٶȽµµ½µÍËÙ0.25 Move_X = Aovid_Speed * 0.5; if (angle_sum > 0) // Õϰ­ÎïÆ«ÓÒ Move_Z = -Pi / 5; // ÿ´ÎתÍä½Ç¶ÈΪPI/5£¬Ö±µ½100¶È·¶Î§ÄÚÎÞÕϰ­Îï¾ÍÍ£Ö¹ else // Æ«×ó Move_Z = Pi / 5; } } else { if (distance_count > 8) // СÓÚ±ÜÕ½¾àÀëµÄʱºò Move_X = -Aovid_Speed, Move_Z = 0; // ÍùºóÍË else { if ((Move_X -= 0.1) <= (Aovid_Speed * 0.5)) // ±ÜÕÏʱËٶȽµµ½µÍËÙ¶È0.15 Move_X = (Aovid_Speed * 0.5); if (angle_sum > 0) // Õϰ­ÎïÆ«ÓÒ { if (Car_Num == Diff_Car) // ÿ´ÎתÍäËÙ¶ÈΪX¶È£¬Ö±µ½100¶È·¶Î§ÄÚÎÞÕϰ­Îï¾ÍÍ£Ö¹ Move_Z = -1; else if (Car_Num == Small_Tank_Car) Move_Z = -1; else Move_Z = -1; } else // Æ«×ó { if (Car_Num == Diff_Car) // ÿ´ÎתÍäËÙ¶ÈΪX¶È£¬Ö±µ½100¶È·¶Î§ÄÚÎÞÕϰ­Îï¾ÍÍ£Ö¹ Move_Z = 1; else if (Car_Num == Small_Tank_Car) Move_Z = 1; else Move_Z = 1; } } } } Move_Z = -Move_Z; } /************************************************************************** Function: Lidar_Follow Input : none Output : none º¯Êý¹¦ÄÜ£ºÀ×´ï¸úËæÄ£Ê½ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ float angle1 = 0; // ¸úËæµÄ½Ç¶È u16 mini_distance1; void Lidar_Follow(void) { static u16 cnt = 0; int i; int calculation_angle_cnt = 0; static float angle = 0; // ¸úËæµÄ½Ç¶È static float last_angle = 0; // u16 mini_distance = 65535; static u8 data_count = 0; // ÓÃÓÚÂ˳ýһдÔëµãµÄ¼ÆÊý±äÁ¿ // ÐèÒªÕÒ³ö¸úËæµÄÄǸöµãµÄ½Ç¶È for (i = 0; i < lap_count; i++) { if (100 < Dataprocess[i].distance && Dataprocess[i].distance < Follow_Distance) // 1200·¶Î§ÄÚ¾ÍÐèÒª¸úËæ { calculation_angle_cnt++; if (Dataprocess[i].distance < mini_distance) // ÕÒ³ö¾àÀë×îСµÄµã { mini_distance = Dataprocess[i].distance; angle = Dataprocess[i].angle; } } } if (angle > 180) angle -= 360; // 0--360¶Èת»»³É0--180£»-180--0£¨Ë³Ê±Õ룩 if (angle - last_angle > 10 || angle - last_angle < -10) // ×öÒ»¶¨Ïû¶¶£¬²¨¶¯´óÓÚ10¶ÈµÄÐèÒª×öÅÐ¶Ï { if (++data_count == 60) // Á¬Ðø60´Î²É¼¯µ½µÄÖµ(300msºó)ºÍÉϴεıȴóÓÚ10¶È£¬´Ëʱ²ÅÊÇÈÏΪÊÇÓÐЧֵ { data_count = 0; last_angle = angle; } } else // ²¨¶¯Ð¡ÓÚ10¶ÈµÄ¿ÉÒÔÖ±½ÓÈÏΪÊÇÓÐЧֵ { data_count = 0; last_angle = angle; } if (calculation_angle_cnt < 6) // ÔÚ¸úËæ·¶Î§ÄڵĵãÉÙÓÚ6¸ö { if (cnt < 40) // Á¬Ðø¼ÆÊý³¬40´ÎûÓÐÒª¸úËæµÄµã£¬´Ëʱ²ÅÊDz»ÓøúËæ cnt++; if (cnt >= 40) { Move_X = 0; // ËÙ¶ÈΪ0 Move_Z = 0; } } else { cnt = 0; if (Car_Num == Akm_Car) { if ((((angle > 15) && (angle < 180)) || ((angle > -180) && angle < -15)) && (mini_distance < 500)) // °¢¿¨Âü³µÐÍ´¦Àí³µÍ·²»¶ÔןúËæÎÏ൱ÓÚºó³µÒ»Ñù£¬Ò»´Î²»¶Ô×¼£¬ÄǺóÍËÔÙÀ´¶Ô×¼ { Move_X = -0.20; Move_Z = -Follow_Turn_PID(last_angle, 0); } else { Move_X = Distance_Adjust_PID(mini_distance, Keep_Follow_Distance); // ±£³Ö¾àÀë±£³ÖÔÚ400mm Move_Z = Follow_Turn_PID(last_angle, 0); } } else // ÆäÓà³µÐÍ { if ((angle > 50 || angle < -50) && (mini_distance > 400)) { Move_Z = -0.0298f * last_angle; // ½Ç¶È²î¾à¹ý´óÖ±½Ó¿ìËÙתÏò Move_X = 0; // ²îËÙС³µºÍÂÄ´øÐ¡³µ¿ÉÒÔʵÏÖÔ­µØ×ª¶¯ } else { Move_X = Distance_Adjust_PID(mini_distance, Keep_Follow_Distance); // ±£³Ö¾àÀë±£³ÖÔÚ400mm Move_Z = Follow_Turn_PID(last_angle, 0); // תÏòPID£¬³µÍ·ÓÀÔ¶¶ÔןúËæÎïÆ· } } } Move_Z = target_limit_float(Move_Z, -Pi / 6, Pi / 6); // ÏÞ·ù Move_X = target_limit_float(Move_X, -0.6, 0.6); } /************************************************************************** º¯Êý¹¦ÄÜ£ºÐ¡³µ×ßÖ±Ïßģʽ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Lidar_along_wall(void) { static u32 target_distance = 0; static int n = 0; u32 distance; u8 data_count = 0; // ÓÃÓÚÂ˳ýһдÔëµãµÄ¼ÆÊý±äÁ¿ for (int i = 0; i < lap_count; i++) { if (Dataprocess[i].angle > 75 && Dataprocess[i].angle < 77) { if (n == 0) { target_distance = Dataprocess[i].distance; // »ñÈ¡µÄµÚÒ»¸öµã×÷ΪĿ±ê¾àÀë n++; } if (Dataprocess[i].distance < target_distance + 100) //+100ÏÞÖÆ»ñÈ¡¾àÀëµÄ·¶Î§Öµ { distance = Dataprocess[i].distance; // »ñȡʵʱ¾àÀë data_count++; } } } // if(data_count <= 0) // Move_X = 0; // Move_X = forward_velocity; // ³õʼËÙ¶È Move_Z = -Along_Adjust_PID(distance, target_distance); if (Car_Num == Akm_Car) { Move_Z = target_limit_float(Move_Z, -Pi / 4, Pi / 4); // ÏÞ·ù } else if (Car_Num == Diff_Car) Move_Z = target_limit_float(Move_Z, -Pi / 5, Pi / 5); // ÏÞ·ù } /************************************************************************** Function: Car_Perimeter_Init Input : none Output : none º¯Êý¹¦ÄÜ£º¼ÆËãС³µ¸÷ÂÖ×ÓµÄÖܳ¤ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Car_Perimeter_Init(void) { if (Car_Num == Diff_Car || Car_Num == Akm_Car) { Perimeter = Diff_Car_Wheel_diameter * Pi; Wheelspacing = Diff_wheelspacing; } else if (Car_Num == Small_Tank_Car) { Perimeter = Small_Tank_WheelDiameter * Pi; Wheelspacing = Small_Tank_wheelspacing; } else { Perimeter = Big_Tank_WheelDiameter * Pi; Wheelspacing = Big_Tank_wheelspacing; } } /************************************************************************** Function: Ultrasonic_Follow Input : none Output : none º¯Êý¹¦ÄÜ£º³¬Éù²¨¸úËæÄ£Ê½ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Ultrasonic_Follow(void) // ³¬Éù²¨¸úËæ£¬Ö»Äܵ¥·½Ïò¸úËæ { Move_Z = 0; Read_Distane(); // ¶ÁÈ¡³¬Éù²¨µÄ¾àÀë if (Distance1 < 200) // ¾àÀëСÓÚ200mm£¬Í˺ó { if ((Move_X -= 3) < -210) Move_X = -210; // ¸øÒ»210ºóÍËËÙ¶È } else if (Distance1 > 270 && Distance1 < 750) // ¾àÀëÔÚ270µ½750Ö®¼äÊÇÐèÒª¸úËæÇ°½ø { if ((Move_X += 3) > 210) // ËÙ¶ÈÖð½¥Ôö¼Ó£¬¸øÇ°½øËÙ¶È Move_X = 210; } else { if (Move_X > 0) { if ((Move_X -= 20) < 0) // ËÙ¶ÈÖð½¥¼õµ½0 Move_X = 0; } else { if ((Move_X += 20) > 0) // ËÙ¶ÈÖð½¥¼õµ½0 Move_X = 0; } } } /************************************************************************** Function: Get angle Input : way£ºThe algorithm of getting angle 1£ºDMP 2£ºkalman 3£ºComplementary filtering Output : none º¯Êý¹¦ÄÜ£º»ñÈ¡½Ç¶È Èë¿Ú²ÎÊý£ºway£º»ñÈ¡½Ç¶ÈµÄËã·¨ 1£ºDMP 2£º¿¨¶ûÂü 3£º»¥²¹Â˲¨ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Get_Angle(u8 way) { if (way == 1) // DMPµÄ¶ÁÈ¡ÔÚÊý¾Ý²É¼¯Öж϶ÁÈ¡£¬Ñϸñ×ñѭʱÐòÒªÇó { Read_DMP(); // ¶ÁÈ¡¼ÓËÙ¶È¡¢½ÇËÙ¶È¡¢Çã½Ç } else { Gyro_X = (I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_XOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_XOUT_L); // ¶ÁÈ¡XÖáÍÓÂÝÒÇ Gyro_Y = (I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_YOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_YOUT_L); // ¶ÁÈ¡YÖáÍÓÂÝÒÇ Gyro_Z = (I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_ZOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_ZOUT_L); // ¶ÁÈ¡ZÖáÍÓÂÝÒÇ Accel_X = (I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_XOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_XOUT_L); // ¶ÁÈ¡XÖá¼ÓËÙ¶È¼Æ Accel_Y = (I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_YOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_YOUT_L); // ¶ÁÈ¡XÖá¼ÓËÙ¶È¼Æ Accel_Z = (I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_ZOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_ZOUT_L); // ¶ÁÈ¡ZÖá¼ÓËÙ¶È¼Æ // if(Gyro_X>32768) Gyro_X-=65536; //Êý¾ÝÀàÐÍת»» Ò²¿Éͨ¹ýshortÇ¿ÖÆÀàÐÍת»» // if(Gyro_Y>32768) Gyro_Y-=65536; //Êý¾ÝÀàÐÍת»» Ò²¿Éͨ¹ýshortÇ¿ÖÆÀàÐÍת»» // if(Gyro_Z>32768) Gyro_Z-=65536; //Êý¾ÝÀàÐÍת»» // if(Accel_X>32768) Accel_X-=65536; //Êý¾ÝÀàÐÍת»» // if(Accel_Y>32768) Accel_Y-=65536; //Êý¾ÝÀàÐÍת»» // if(Accel_Z>32768) Accel_Z-=65536; //Êý¾ÝÀàÐÍת»» Accel_Angle_x = atan2(Accel_Y, Accel_Z) * 180 / Pi; // ¼ÆËãÇã½Ç£¬×ª»»µ¥Î»Îª¶È Accel_Angle_y = atan2(Accel_X, Accel_Z) * 180 / Pi; // ¼ÆËãÇã½Ç£¬×ª»»µ¥Î»Îª¶È Gyro_X = Gyro_X / 65.5; // ÍÓÂÝÒÇÁ¿³Ìת»»£¬Á¿³Ì¡À500¡ã/s¶ÔÓ¦ÁéÃô¶È65.5£¬¿É²éÊÖ²á Gyro_Y = Gyro_Y / 65.5; // ÍÓÂÝÒÇÁ¿³Ìת»» if (way == 2) { Roll = -Kalman_Filter_x(Accel_Angle_x, Gyro_X); // ¿¨¶ûÂüÂ˲¨ Pitch = -Kalman_Filter_y(Accel_Angle_y, Gyro_Y); } else if (way == 3) { Roll = -Complementary_Filter_x(Accel_Angle_x, Gyro_X); // »¥²¹Â˲¨ Pitch = -Complementary_Filter_y(Accel_Angle_y, Gyro_Y); } } } /************************************************************************** Function: The remote control command of model aircraft is processed Input : none Output : none º¯Êý¹¦ÄÜ£º¶Ôº½Ä£Ò£¿Ø¿ØÖÆÃüÁî½øÐд¦Àí Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Remote_Control(void) { // Data within 1 second after entering the model control mode will not be processed // ¶Ô½øÈ뺽ģ¿ØÖÆÄ£Ê½ºó1ÃëÄÚµÄÊý¾Ý²»´¦Àí static u8 thrice = 200; int Threshold = 100; // limiter //ÏÞ·ù int LX, RY; // static float Target_LX,Target_LY,Target_RY,Target_RX; Remoter_Ch1 = target_limit_int(Remoter_Ch1, 1000, 2000); Remoter_Ch2 = target_limit_int(Remoter_Ch2, 1000, 2000); // Front and back direction of left rocker. Control forward and backward. // ×óÒ¡¸Ëǰºó·½Ïò¡£¿ØÖÆÇ°½øºóÍË¡£ LX = Remoter_Ch2 - 1500; // //Left joystick left and right. Control left and right movement. // //×óÒ¡¸Ë×óÓÒ·½Ïò¡£¿ØÖÆ×óÓÒÒÆ¶¯¡£¡£ // LY=Remoter_Ch2-1500; // Right stick left and right. To control the rotation. // ÓÒÒ¡¸Ë×óÓÒ·½Ïò¡£¿ØÖÆ×Ôת¡£ RY = Remoter_Ch1 - 1500; // if (LX > -Threshold && LX < Threshold) LX = 0; if (RY > -Threshold && RY < Threshold) RY = 0; // if(LX==0) Target_LX=Target_LX/1.2f; // if(LY==0) Target_LY=Target_LY/1.2f; // if(RY==0) Target_RY=Target_RY/1.2f; // //Throttle related //ÓÍÃÅÏà¹Ø // Remote_RCvelocity=RC_Velocity+RX; // if(Remote_RCvelocity<0)Remote_RCvelocity=0; // The remote control command of model aircraft is processed // ¶Ôº½Ä£Ò£¿Ø¿ØÖÆÃüÁî½øÐд¦Àí Move_X = LX; Move_Z = -RY; Move_X = Move_X * 1.3; //*1.3ÊÇΪÁËÀ«´óËÙ¶È if (Car_Num == Akm_Car) Move_Z = Move_Z * (Pi / 8) / 350.0; else Move_Z = Move_Z * 2 * (Pi / 4) / 350.0; // Unit conversion, mm/s -> m/s // µ¥Î»×ª»»£¬mm/s -> m/s Move_X = Move_X / 1000; // ZÖáÊý¾Ýת»¯ #if _4WD if (Move_X < 0) Move_Z = -Move_Z; #endif // Data within 1 second after entering the model control mode will not be processed // ¶Ô½øÈ뺽ģ¿ØÖÆÄ£Ê½ºó1ÃëÄÚµÄÊý¾Ý²»´¦Àí if (thrice > 0) Move_X = 0, Move_Z = 0, thrice--; // Control target value is obtained and kinematics analysis is performed // µÃµ½¿ØÖÆÄ¿±êÖµ£¬½øÐÐÔ˶¯Ñ§·ÖÎö // Get_Target_Encoder(Move_X,Move_Z); } 怎么把OpenMV与STM32串口通信实现二维码/APRILTag码识别及控制的代码加到上述代码中,现在openmv的二维码识别已做好,二维码采用的是Apriltag的36h11类型,id:0表示停止,id:1表示直行,id:2表示左转,id:3表示右转,现在需要再在STM32中修改或添加代码,使其能在接收到openmv识别到的指令后作出相应的动作

#include "reg52.h" #include "stdio.h" #define uchar unsigned char #define uint unsigned int #define DB P0//Òº¾§²¢ÐÐÊý¾Ý½Ó¿Ú sbit RS = P1^0;//Òº¾§Ö¸ÁîÊý¾ÝÐźŠsbit RW = P1^1;//Òº¾§¶ÁдÐźŠsbit E = P1^4;//Òº¾§Ê¹ÄÜÐźŠsbit T_IO=P3^4; //clkΪDS1302µÄʱÖÓÐźÅÏß sbit T_CLK=P3^5; //DATΪDS1302µÄI/OÊý¾ÝÏß sbit T_RST=P1^7; //RSTΪDS1302µÄRSTÐźÅÏß sbit OneWire_DQ=P3^7; char mode=0; sbit buzz=P3^6; char yz1=20; char yz2=60; char setmode=0; char T,TShow; char timeset=0; void delay_ms(unsigned int cnt) // { unsigned int x; for( ; cnt>0; cnt--) { for(x=110; x>0; x--);//Èí¼þÑÓʱΪ1MS } } #if 0 void delay_us(unsigned int cnt) // { while(cnt--); } #endif /******************************************************************************* * º¯ Êý Ãû : LcdWriteCom * º¯Êý¹¦ÄÜ : ÏòLCDдÈëÒ»¸ö×Ö½ÚµÄÃüÁî * Êä Èë : u8com * Êä ³ö : ÎÞ *******************************************************************************/ void lcd_wri_com(unsigned char com) //дÈëÃüÁî { E = 0; //ʹÄÜÇåÁã RS = 0; //Ñ¡ÔñдÈëÃüÁî RW = 0; //Ñ¡ÔñдÈë DB = com; delay_ms(1); E = 1; //дÈëʱÐò delay_ms(5); E = 0; } /******************************************************************************* * º¯ Êý Ãû : LcdWriteData * º¯Êý¹¦ÄÜ : ÏòLCDдÈëÒ»¸ö×Ö½ÚµÄÊý¾Ý * Êä Èë : u8dat * Êä ³ö : ÎÞ *******************************************************************************/ void lcd_wri_data(unsigned char dat)//дÈëÊý¾Ý { E = 0; //ʹÄÜÇåÁã RS = 1; //Ñ¡ÔñдÈëÊý¾Ý RW = 0; //Ñ¡ÔñдÈë DB = dat; delay_ms(1); E = 1; //дÈëʱÐò delay_ms(5); E = 0; } /******************************************************************************* * º¯ Êý Ãû : WriString * º¯Êý¹¦ÄÜ : Ë¢ÐÂÆÁÄ»ÏÔʾ * Êä Èë : hang£¬add£¬*p * Êä ³ö : ÎÞ *******************************************************************************/ void wri_string(unsigned char y,unsigned char x,unsigned char *p) { if(y==1)//Èç¹ûÑ¡ÔñµÚÒ»ÐÐ lcd_wri_com(0x80+x);//Ñ¡ÖеØÖ· else lcd_wri_com(0xc0+x);//Ñ¡ÖеØÖ· while(*p) { lcd_wri_data(*p);//дÈëÊý¾Ý p++; } } /******************************************************************************* * º¯ Êý Ãû : lcd_write_char * º¯Êý¹¦ÄÜ : * Êä Èë : * Êä ³ö : ÎÞ *******************************************************************************/ void lcd_write_char(unsigned char y, unsigned char x, unsigned char dat) //ÁÐx=0~15,ÐÐy=0,1 { unsigned char temp_l, temp_h; if(y==1)//Èç¹ûÑ¡ÔñµÚÒ»ÐÐ lcd_wri_com(0x80+x);//Ñ¡ÖеØÖ· else lcd_wri_com(0xc0+x);//Ñ¡ÖеØÖ· temp_l = dat % 10; temp_h = dat / 10; lcd_wri_data(temp_h + 0x30); //convert to ascii lcd_wri_data(temp_l + 0x30); } /*********************¹â±ê¿ØÖÆ***********************/ void lcd1602_guanbiao(unsigned char y, unsigned char x,unsigned char on_off) { if(on_off == 1) //¿ª¹â±ê { if(y==1)//Èç¹ûÑ¡ÔñµÚÒ»ÐÐ lcd_wri_com(0x80+x); else lcd_wri_com(0xc0+x);//½«¹â±êÒÆ¶¯µ½Ãë¸öλ lcd_wri_com(0x0f);//ÏÔʾ¹â±ê²¢ÇÒÉÁ˸ } else { if(y==1)//Èç¹ûÑ¡ÔñµÚÒ»ÐÐ lcd_wri_com(0x80+x); else lcd_wri_com(0xc0+x);//½«¹â±êÒÆ¶¯µ½Ãë¸öλ lcd_wri_com(0x0c); //¹Ø¹â±ê } } void LCD1602_ShowNumber(unsigned char Row,unsigned char Column,int Data,unsigned char Lenght) { char DataC[16]={0}; unsigned char num; num=sprintf(DataC,"%d",Data); if((Lenght-num)>=0) { wri_string(Row,Column,DataC); // for(i=0;i<(Lenght-num);++i) // lcd_wri_data(' '); } } /******************************************************************************* * º¯ Êý Ãû : LcdInit() * º¯Êý¹¦ÄÜ : ³õʼ»¯LCDÆÁ * Êä Èë : ÎÞ * Êä ³ö : ÎÞ *******************************************************************************/ void lcd_init(void) //LCD³õʼ»¯×Ó³ÌÐò { lcd_wri_com(0x38);//Öù¦ÄÜ8λ˫ÐÐ lcd_wri_com(0x0c);//ÏÔʾ¿ª¹Ø¹â±ê lcd_wri_com(0x06);//×Ö·û½øÈëģʽÆÁÄ»²»¶¯×Ö·ûºóÒÆ delay_ms(5);//ÑÓʱ5ms lcd_wri_com(0x01); //ÇåÆÁ } /** * @brief µ¥×ÜÏß³õʼ»¯ * @param ÎÞ * @retval ´Ó»úÏìӦ룬0ΪÏìÓ¦£¬1ΪδÏìÓ¦ */ unsigned char OneWire_Init(void) { unsigned char i; unsigned char AckBit; OneWire_DQ=1; OneWire_DQ=0; i = 247;while (--i); //Delay 500us OneWire_DQ=1; i = 32;while (--i); //Delay 70us AckBit=OneWire_DQ; i = 247;while (--i); //Delay 500us return AckBit; } /** * @brief µ¥×ÜÏß·¢ËÍһλ * @param Bit Òª·¢Ë͵Äλ * @retval ÎÞ */ void OneWire_SendBit(unsigned char Bit) { unsigned char i; OneWire_DQ=0; i = 4;while (--i); //Delay 10us OneWire_DQ=Bit; i = 24;while (--i); //Delay 50us OneWire_DQ=1; } /** * @brief µ¥×ÜÏß½ÓÊÕһλ * @param ÎÞ * @retval ¶ÁÈ¡µÄλ */ unsigned char OneWire_ReceiveBit(void) { unsigned char i; unsigned char Bit; OneWire_DQ=0; i = 2;while (--i); //Delay 5us OneWire_DQ=1; i = 2;while (--i); //Delay 5us Bit=OneWire_DQ; i = 24;while (--i); //Delay 50us return Bit; } /** * @brief µ¥×ÜÏß·¢ËÍÒ»¸ö×Ö½Ú * @param Byte Òª·¢Ë͵Ä×Ö½Ú * @retval ÎÞ */ void OneWire_SendByte(unsigned char Byte) { unsigned char i; for(i=0;i<8;i++) { OneWire_SendBit(Byte&(0x01<<i)); } } /** * @brief µ¥×ÜÏß½ÓÊÕÒ»¸ö×Ö½Ú * @param ÎÞ * @retval ½ÓÊÕµÄÒ»¸ö×Ö½Ú */ unsigned char OneWire_ReceiveByte(void) { unsigned char i; unsigned char Byte=0x00; for(i=0;i<8;i++) { if(OneWire_ReceiveBit()){Byte|=(0x01<<i);} } return Byte; } #define DS18B20_SKIP_ROM 0xCC #define DS18B20_CONVERT_T 0x44 #define DS18B20_READ_SCRATCHPAD 0xBE /** * @brief DS18B20¿ªÊ¼Î¶ȱ任 * @param ÎÞ * @retval ÎÞ */ void DS18B20_ConvertT(void) { OneWire_Init(); OneWire_SendByte(DS18B20_SKIP_ROM); OneWire_SendByte(DS18B20_CONVERT_T); } /** * @brief DS18B20¶ÁÈ¡ÎÂ¶È * @param ÎÞ * @retval ζÈÊýÖµ */ float DS18B20_ReadT(void) { unsigned char TLSB,TMSB; int Temp; float T; OneWire_Init(); OneWire_SendByte(DS18B20_SKIP_ROM); OneWire_SendByte(DS18B20_READ_SCRATCHPAD); TLSB=OneWire_ReceiveByte(); TMSB=OneWire_ReceiveByte(); Temp=(TMSB<<8)|TLSB; T=Temp/16.0; return T; } void get_1302(uchar time[]); void write_ds1302(uchar dat); uchar r_1302(uchar add); void w_1302(uchar add,uchar dat); uchar read_ds1302(void); void init_1302(uchar *time); void change(); char num0; char num1; char num2; char num3; char num4; char num5; char num6; uchar date[14];//±£´æÈÕÆÚ uchar time_1302[7]={0x00,0x00,0x00,0x03,0x07,0x03,0x08}; uchar time0_1302[7]={0x00,0x00,0x00,0x03,0x07,0x03,0x08}; uchar bdata datbyte; sbit datbyte0=datbyte^0; sbit datbyte7=datbyte^7; //DS1302Ïà¹Øº¯Êý /*========================================== D S 1 3 0 2 ³õ ʼ »¯ ===========================================*/ void init_1302(uchar *time) {uchar i, add; //uchar time_bcd[7]; add=0x80;//0дÈ룬1¶Á³ö w_1302(0x8e,0x00); for(i=0;i<7;i++) {w_1302(add,*time); add+=2; time++; } w_1302(0x8e,0x80); } //=========================== // ¶ÁÈ¡µ±Ç°Ê±¼ä //=========================== void get_1302(uchar time[]) {uchar i; uchar add=0x81; w_1302(0x8e,0x00); for(i=0;i<7;i++) { time[i]=r_1302(add); add+=2; } w_1302(0x8e,0x80); } /*================================= DS1302дÈëÒ»¸ö×Ö½Ú£¨ÉÏÉýÑØÓÐЧ£© =================================*/ void write_ds1302(uchar dat) {uchar i; datbyte=dat; for(i=0;i<8;i++) {T_IO=datbyte0; T_CLK=1; T_CLK=0; datbyte=datbyte>>1; } } /*======================================= DS1302¶Áȡһ¸ö×Ö½Ú£¨Ï½µÑØÓÐЧ£© =======================================*/ uchar read_ds1302(void) {uchar i; for(i=0;i<8;i++) {datbyte=datbyte>>1; datbyte7=T_IO; T_CLK=1; T_CLK=0; } return(datbyte); } /*========================================= Ö¸¶¨Î»ÖöÁÈ¡Êý¾Ý =========================================*/ uchar r_1302(uchar add) {uchar temp,dat1,dat2; T_RST=0; T_CLK=0; T_RST=1; write_ds1302(add); temp=read_ds1302(); T_CLK=1; T_RST=0; dat1=temp/16; dat2=temp%16; temp=dat1*10+dat2; return(temp); } /*========================================== Ö¸¶¨Î»ÖÃдÈëÊý¾Ý ==========================================*/ void w_1302(uchar add,uchar dat) { T_RST=0; T_CLK=0; T_RST=1; write_ds1302(add); write_ds1302(dat/10<<4|dat%10); T_CLK=1; T_RST=0; } //DS1302Êýֵת»» void change() { // ʱ ¼ä µÄ ת »» LCD1602_ShowNumber(2,0,time_1302[2]/10,1); LCD1602_ShowNumber(2,1,time_1302[2]%10,1); wri_string(2,2,":"); LCD1602_ShowNumber(2,3,time_1302[1]/10,1); LCD1602_ShowNumber(2,4,time_1302[1]%10,1); wri_string(2,5,":"); LCD1602_ShowNumber(2,6,time_1302[0]/10,1); LCD1602_ShowNumber(2,7,time_1302[0]%10,1); // ÈÕ ÆÚ µÄ ת »» date[0]='2'; date[1]='0'; date[2]=time_1302[6]/10+'0'; date[3]=time_1302[6]%10+'0'; date[4]='/'; date[5]=time_1302[4]/10+'0'; date[6]=time_1302[4]%10+'0'; date[7]='/'; date[8]=time_1302[3]/10+'0'; date[9]=time_1302[3]%10+'0'; date[10]='/'; date[11]=time_1302[5]/10+'0'; date[12]=time_1302[5]%10-1+'0'; date[13]='\0'; } sbit BUTTON0 = P2^0; sbit BUTTON1 = P2^1; sbit BUTTON2 = P2^2; sbit BUTTON3 = P2^3; sbit BUTTON4 = P2^4; sbit BUTTON5 = P2^5; sbit BUTTON6 = P2^6; sbit BUTTON7 = P2^7; unsigned char button0_pressed(void) { if (BUTTON0 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON0 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON0); // µÈ´ý°´Å¥ÊÍ·Å mode++; if(mode==3){mode=0; wri_string(2,0," "); } return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } unsigned char button2_pressed(void) { if (BUTTON2 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON2 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON2); // µÈ´ý°´Å¥ÊÍ·Å if(setmode==0){yz2++; LCD1602_ShowNumber(1,7,yz2);} else{yz1++; LCD1602_ShowNumber(2,7,yz1);} return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } unsigned char button3_pressed(void) { if (BUTTON3 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON3 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON3); // µÈ´ý°´Å¥ÊÍ·Å if(setmode==0){yz2--; LCD1602_ShowNumber(1,7,yz2);} else{yz1--; LCD1602_ShowNumber(2,7,yz1);} return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } unsigned char button4_pressed(void) { if (BUTTON4 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON4 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON4); // µÈ´ý°´Å¥ÊÍ·Å; return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } unsigned char button1_pressed(void) { if (BUTTON1 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON1 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON1); // µÈ´ý°´Å¥ÊÍ·Å wri_string(1,0,"MAX: "); wri_string(2,0,"MIN: "); LCD1602_ShowNumber(1,7,yz2); LCD1602_ShowNumber(2,7,yz1); while(1){ button2_pressed(); button3_pressed(); if(button4_pressed()){setmode=1;break;} } while(1){ button2_pressed(); button3_pressed(); if(button4_pressed()){setmode=0;wri_string(1,0," ");wri_string(2,0," ");break;} } delay_ms(1000); return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } unsigned char button5_pressed(void) { if (BUTTON5 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON5 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON5); // µÈ´ý°´Å¥ÊÍ·Å timeset++; if(timeset==6){timeset=0;} return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } unsigned char button6_pressed(void) { if (BUTTON6 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON6 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON6); // µÈ´ý°´Å¥ÊÍ·Å switch(timeset){ case 0:num0++;time0_1302[6]=num0;init_1302(time0_1302);break; case 1:num1++;time0_1302[5]=num1;init_1302(time0_1302);break; case 2:num2++;time0_1302[4]=num2;init_1302(time0_1302);break; case 3:num3++;time0_1302[3]=num3;init_1302(time0_1302);break; case 4:num4++;time0_1302[2]=num4;init_1302(time0_1302);break; case 5:num5++;time0_1302[1]=num5;init_1302(time0_1302);break; case 6:num6++;time0_1302[0]=num6;init_1302(time0_1302);break; } return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } unsigned char button7_pressed(void) { if (BUTTON7 == 0) { // °´Å¥°´ÏÂʱΪµÍµçƽ delay_ms(20); // ÑÓʱȥ¶¶¶¯ if (BUTTON7 == 0) { // Ôٴμì²â°´Å¥×´Ì¬ while (!BUTTON7); // µÈ´ý°´Å¥ÊÍ·Å switch(timeset){ case 0:num0--;time0_1302[6]=num0;init_1302(time0_1302);break; case 1:num1--;time0_1302[5]=num1;init_1302(time0_1302);break; case 2:num2--;time0_1302[4]=num2;init_1302(time0_1302);break; case 3:num3--;time0_1302[3]=num3;init_1302(time0_1302);break; case 4:num4--;time0_1302[2]=num4;init_1302(time0_1302);break; case 5:num5--;time0_1302[1]=num5;init_1302(time0_1302);break; case 6:num6--;time0_1302[0]=num6;init_1302(time0_1302);break; } return 1; // °´Å¥°´Ï } } return 0; // °´Å¥Î´°´Ï } void openbuzz(){ if(T>yz2||T<yz1){ buzz=1; }else{ buzz=0; } } void main(){ int j; buzz=0; lcd_init(); DS18B20_ConvertT(); for (j=0;j<10;j++){ wri_string(1,j,"ZNWDJ"); wri_string(2,j,"0605"); delay_ms(300); wri_string(1,j," "); wri_string(2,j," "); } while(1){ DS18B20_ConvertT(); //ת»»ÎÂ¶È T=DS18B20_ReadT(); //¶ÁÈ¡ÎÂ¶È openbuzz(); get_1302(time_1302); change(); wri_string(1,0,date); button0_pressed(); button1_pressed(); button2_pressed(); button3_pressed(); button4_pressed(); button5_pressed(); button6_pressed(); button7_pressed(); switch(mode){ case 0: TShow=T; LCD1602_ShowNumber(2,10,TShow,2); break; case 1: TShow=T*1.8+32; LCD1602_ShowNumber(2,10,TShow,3); break; case 2: TShow=T; LCD1602_ShowNumber(2,10,TShow,2); TShow=TShow*1.8+32; wri_string(2.11); LCD1602_ShowNumber(2,12,TShow,3); break; } } }画一个矩阵键盘扫描子程序流程图

////////////////////////////////////////////////////////////////////////////////// //±¾³ÌÐòÖ»¹©Ñ§Ï°Ê¹Óã¬Î´¾­×÷ÕßÐí¿É£¬²»µÃÓÃÓÚÆäËüÈκÎÓÃ; //ÐÀÞ±µç×Ó // // ÎÄ ¼þ Ãû :yanwu.c // °æ ±¾ ºÅ : v1.0 // ×÷ Õß : ÐÀÞ±µç×Ó // Éú³ÉÈÕÆÚ : 20200101 // ×î½üÐÞ¸Ä : // ¹¦ÄÜÃèÊö :Ö÷º¯Êý // ÐÞ¸ÄÀúÊ· : // ÈÕ ÆÚ : // ×÷ Õß : ÐÀÞ±µç×Ó // ÐÞ¸ÄÄÚÈÝ : ´´½¨Îļþ //°æÈ¨ËùÓУ¬µÁ°æ±Ø¾¿¡£ //Copyright(C) ÐÀÞ±µç×Ó2020/3/16 //All rights reserved //******************************************************************************/. //³ÌÐòÍ·º¯Êý #include <reg52.h> #include <intrins.h> //°üº¬Í·Îļþ //ÏÔʾº¯Êý #include <display.h> //ºê¶¨Òå #define uint unsigned int #define uchar unsigned char //¹Ü½ÅÉùÃ÷ sbit LED_R= P2^2;//ºìµÆ sbit LED_G= P2^0;//ÂÌµÆ sbit FENG = P2^5;//·äÃùÆ÷ //sbit san=P3^4; //·çÉÈ¿ØÖÆ£¨Ñ¡Å䣩 sbit CS = P1^4; sbit Clk = P1^2; sbit DATI = P1^3; sbit DATO = P1^3; //ADC0832Òý½Å //°´¼ü sbit Key1=P2^6; //ÉèÖüü sbit Key2=P2^7; //¼Ó°´¼ü sbit Key3=P3^7; //¼õ°´¼ü bit bdata flag; //±¨¾¯±ê־λ uchar set; //ÉèÖÃ״̬ /*******************************¶¨ÒåÈ«¾Ö±äÁ¿********************************/ unsigned char dat = 0; //ADÖµ unsigned char CH=0; //ͨµÀ±äÁ¿ unsigned int sum=0; //ƽ¾ùÖµ¼ÆËãʱµÄ×ÜÊý unsigned char m=0; //º¯ÊýÉùÃ÷ extern uchar ADC0809(); extern void Key(); //¾Æ¾«º¬Á¿±äÁ¿ uchar temp=0; uchar WARNING=25; //±¨¾¯Öµ /**************************************************************************** º¯Êý¹¦ÄÜ:ADת»»×Ó³ÌÐò Èë¿Ú²ÎÊý:CH ³ö¿Ú²ÎÊý:dat ****************************************************************************/ unsigned char adc0832(unsigned char CH) { unsigned char i,test,adval; adval = 0x00; test = 0x00; Clk = 0; //³õʼ»¯ DATI = 1; _nop_(); CS = 0; _nop_(); Clk = 1; _nop_(); if ( CH == 0x00 ) //ͨµÀÑ¡Ôñ { Clk = 0; DATI = 1; //ͨµÀ0µÄµÚһλ _nop_(); Clk = 1; _nop_(); Clk = 0; DATI = 0; //ͨµÀ0µÄµÚ¶þλ _nop_(); Clk = 1; _nop_(); } else { Clk = 0; DATI = 1; //ͨµÀ1µÄµÚһλ _nop_(); Clk = 1; _nop_(); Clk = 0; DATI = 1; //ͨµÀ1µÄµÚ¶þλ _nop_(); Clk = 1; _nop_(); } Clk = 0; DATI = 1; for( i = 0;i < 8;i++ ) //¶Áȡǰ8λµÄÖµ { _nop_(); adval <<= 1; Clk = 1; _nop_(); Clk = 0; if (DATO) adval |= 0x01; else adval |= 0x00; } for (i = 0; i < 8; i++) //¶ÁÈ¡ºó8λµÄÖµ { test >>= 1; if (DATO) test |= 0x80; else test |= 0x00; _nop_(); Clk = 1; _nop_(); Clk = 0; } if (adval == test) //±È½Ïǰ8λÓëºó8λµÄÖµ£¬Èç¹û²»ÏàͬÉáÈ¥¡£ÈôÒ»Ö±³öÏÖÏÔʾΪÁ㣬Ç뽫¸ÃÐÐÈ¥µô dat = test; nop_(); CS = 1; //ÊÍ·ÅADC0832 DATO = 1; Clk = 1; return dat; } void init() //³õʼ»¯º¯Êý { TMOD=0x01; //¹¤×÷·½Ê½ TL0=0xb0; TH0=0x3c; //¸³³õÖµ£¨12MHz¾§ÕñµÄ50ms£© EA=1; //´ò¿ªÖжÏ×Ü¿ª¹Ø ET0=1; //´ò¿ªÖжÏÔÊÐí¿ª¹Ø TR0=1; //´ò¿ª¶¨Ê±Æ÷¿ª¹Ø } void main() //Ö÷º¯Êý { Init1602();//³õʼ»¯ÏÔʾ init(); //³õʼ»¯¶¨Ê±Æ÷ while(1) //½øÈëÑ­»· { for(m=0;m<50;m++) //¶Á50´ÎADÖµ sum = adc0832(0)+sum; //¶Áµ½µÄADÖµ£¬½«¶Áµ½µÄÊý¾ÝÀÛ¼Óµ½sum temp=sum/50; //Ìø³öÉÏÃæµÄforÑ­»·ºó£¬½«ÀÛ¼ÓµÄ×ÜÊý³ýÒÔ50µÃµ½Æ½¾ùÖµtemp sum=0; //ƽ¾ùÖµ¼ÆËãÍê³Éºó£¬½«×ÜÊýÇåÁã if(set==0) //Ö»ÓÐÔÚ·ÇÉèÖÃ״̬ʱ£¬ Display_1602(temp,WARNING); //²ÅË¢ÐÂÏÔʾʵʱŨ¶ÈÖµ if(temp<WARNING&&set==0) //·ÇÉèÖÃʱµ±Å¨¶ÈֵСÓÚ±¨¾¯ÖµÊ± { flag=0; //±¨¾¯±ê־λÖÃ0£¬²»±¨¾¯ } else if(temp>WARNING&&set==0) //·ÇÉèÖÃʱµ±Å¨¶ÈÖµ´óÓÚ±¨¾¯ÖµÊ± { flag=1; //±¨¾¯±ê־λÖÃ1 } Key(); //ɨÃè°´¼ü } } void Key() //°´¼üº¯Êý { if(Key1==0) //ÉèÖüü°´ÏÂʱ { while(Key1==0); //¼ì²â°´¼üÊÇ·ñÊÍ·Å FENG=0; //·äÃùÆ÷Ïì set++; //ÉèÖÃ״̬±êÖ¾¼Ó flag=0; //Í£Ö¹±¨¾¯ // san=1; //·çÉÈֹͣת¶¯£¨Ñ¡Å䣩 TR0=0; //¶¨Ê±Æ÷Í£Ö¹ } if(set==1) //ÉèÖÃʱ { write_com(0x38);//ÆÁÄ»³õʼ»¯ write_com(0x80+0x40+13);//Ñ¡Öб¨¾¯ÖµµÄλÖà write_com(0x0f);//´ò¿ªÏÔʾ ÎÞ¹â±ê ¹â±êÉÁ˸ write_com(0x06);//µ±¶Á»òдһ¸ö×Ö·ûÊÇÖ¸Õëºóһһλ FENG=1; //·äÃùÆ÷Í£Ö¹ÃùÏì } else if(set>=2) //ÔÙ°´Ò»ÏÂÉèÖüüʱ£¬Í˳öÉèÖà { set=0; //ÉèÖÃ״̬ÇåÁã write_com(0x38);//ÆÁÄ»³õʼ»¯ write_com(0x0c);//´ò¿ªÏÔʾ ÎÞ¹â±ê ÎÞ¹â±êÉÁ˸ FENG=1; //·äÃùÆ÷Í£Ö¹Ïì flag=1; //±¨¾¯±ê־λÖÃ1 TR0=1; //¶¨Ê±Æ÷¿ªÊ¼¼ÆÊ± } if(Key2==0&&set!=0) //µ±ÔÚÉèÖÃ״̬ʱ£¬°´Ï¼Ӽüʱ { while(Key2==0); //°´¼üÊÍ·Å FENG=0; //·äÃùÆ÷ÃùÏì WARNING++; //±¨¾¯ãÐÖµ¼Ó if(WARNING>=255)//ãÐÖµ×î´ó¼Óµ½255 WARNING=0; //ÇåÁã write_com(0x80+0x40+11); //ÔÚãÐÖµµÄλÖÃдÈëÉèÖõÄÊý¾Ý write_data('0'+WARNING/100); //ÏÔʾ°Ù루½«123³ýÒÔ100µÃµ½µÄÉÌÊÇ1£¬¾ÍÊǰÙλÊý¾Ý£©123ΪÀý×Ó write_data('0'+WARNING/10%10);//ÏÔʾʮ루½«123³ýÒÔ10µÃµ½ÉÌÊÇ12£¬½«12³ýÒÔ10µÄÓàÊý¾ÍÊÇʮ룩 write_data('0'+WARNING%10); //ÏÔʾ¸ö루½«123³ýÒÔ10µÄÓàÊý3¾ÍÊǸöλÊý¾Ý£©123ΪÀý×Ó write_com(0x80+0x40+13);//λÖà FENG=1;//·äÃùÆ÷Í£Ö¹ } if(Key3==0&&set!=0) //¼õ°´¼ü×¢ÊͲο¼¼Ó°´¼ü²¿·Ö { while(Key3==0); FENG=0; WARNING--; if(WARNING<=0) WARNING=255; write_com(0x80+0x40+11); write_data('0'+WARNING/100); write_data('0'+WARNING/10%10); write_data('0'+WARNING%10); write_com(0x80+0x40+13);//λÖà FENG=1; } } void time1_int(void) interrupt 1 //¶¨Ê±Æ÷º¯Êý { uchar count; TL0=0xb0; TH0=0x3c; //ÖØÐ¸³³õÖµ count++; //¼ÆÊ±±äÁ¿¼Ó if(count==10)//¶¨Ê±Æ÷¶¨Ê±ÊÇ50ms£¬´Ë´¦¼ÆÊý10´Î£¬ÕýºÃÊÇ500ms£¬ÓÃÓÚ±¨¾¯Ê± µÆÁÁºÍ·äÃùÆ÷Ïì { if(flag==0) //±¨¾¯±ê־Ϊ0ʱ { LED_G=0; //Â̵ÆÁÁ LED_R=1; //ºìµÆÃð FENG=1; //·äÃùÆ÷²»Ïì // san=1; //·çÉȲ»×ª£¨Ñ¡Å䣩 } if(flag==1) //±¨¾¯±ê־λΪ1ʱ { LED_G=1; //Â̵ÆÃð LED_R=0; //ºìµÆÁÁ FENG=0; //·äÃùÆ÷Ïì // san=0; //·çÉÈת¶¯£¨Ñ¡Å䣩 } } if(count==20) //¼ÆÊýµ½20ʱ£¬ÕýºÃÊÇ1000ms£¬¾ÍÊÇ1s£¬ÕâÀï¾ÍÊÇÈõÆÃ𣬷äÃùÆ÷²»Ï죬´Ó¶ø×ö³öÉÁ˸µÄЧ¹û { count=0; //¼Æµ½1sʱ£¬½«countÇåÁ㣬׼±¸ÖØÐ¼ÆÊý if(flag==0) { LED_G=1; LED_R=1; FENG=1; // san=1; //È«²¿¹Ø±Õ } if(flag==1) { LED_G=1; LED_R=1; FENG=1; // san=0; //±¨¾¯Öµ£¬·çÉÈÊÇһֱת¶¯µÄ£¨Ñ¡Å䣩 } } } 修改为下限报警

void GPIO_Config_Init(void) { ///////////////SPI2 CS,RSTÒý½Å³õʼ»¯//////////////////////////////////////////// GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //ʹÄÜPA¶Ë¿ÚʱÖÓʹÄÜ //RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //ʹÄÜPB¶Ë¿ÚʱÖÓʹÄÜ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //PA4 ¶Ë¿ÚÅäÖà GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //ÍÆÍìÊä³ö GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO¿ÚËÙ¶ÈΪ50MHz GPIO_Init(GPIOA, &GPIO_InitStructure); //¸ù¾ÝÉ趨²ÎÊý³õʼ»¯GPIOA8 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; //PA4¶Ë¿ÚÅäÖà GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //ÍÆÍìÊä³ö GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO¿ÚËÙ¶ÈΪ50MHz GPIO_Init(GPIOA, &GPIO_InitStructure); //¸ù¾ÝÉ趨²ÎÊý³õʼ»¯GPIOA4 RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); //AFʱÖÓʹÄÜ ///////////////SPI2Òý½Å³õʼ»¯///////////////////////////////////////////////// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA, &GPIO_InitStructure); RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1 , ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE); } void SPI_Config_init(void) { SPI_InitTypeDef SPI_InitStructure; SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex; SPI_InitStructure.SPI_Mode = SPI_Mode_Master; SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b; SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low; SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge; SPI_InitStructure.SPI_NSS = SPI_NSS_Soft; SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4; SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB; SPI_InitStructure.SPI_CRCPolynomial = 7; SPI_Init(SPI1, &SPI_InitStructure); SPI_Cmd(SPI1, ENABLE); }检查一下是否正确

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Position_Bias *=0.8; Position_Bias += Position_Least*0.2; Position_Differential=Position_Bias-Last_Position; Last_Position=Position_Bias; Position_PWM =Position_Bias*Position_KP+Position_Differential*Position_KD; return Position_PWM; //¶¨ÒåλÖÿØÖƱäÁ¿£¬·Ö±ðÐèÒª¶¨Òå¿ØÖÆPWMÖµ¡¢ÉÏÒ»´ÎµÄλÖÃÖµ¡¢µ±Ç°Î»ÖÃÖµ¡¢Î¢·Ö¶ÔÏóÖµ //¶¨ÒåλÖÃÎó²î±äÁ¿ //===»ñȡλÖÃÆ«²îÁ¿£¬¼´Îó²îÁ¿ //Ò»½×µÍͨÂ˲¨Æ÷Ëã·¨ //===Ò»½×µÍͨÂ˲¨Æ÷ //===»ñȡƫ²î±ä»¯ÂÊ£¬µ±Ç°Îó²îÓëÉÏ´ÎÎó²îÇó²î£¬¼´Î¢·Ö¶ÔÏóÖµ //ÉÏ´ÎÎó²îµÈÓÚµ±Ç°Îó²î£¬±£´æÉÏÒ»´ÎµÄÆ«²î //===ʹÓÃλÖÃPIDËã·¨¹«Ê½¸øPWM¸³Öµ£¬ÐèҪλÖÿìËÙ·´Ó¦£¬²ÉÓÃPDËã·¨£¬¼´»ý·Ö²ÎÊýΪÁã //º¯Êý·µ»ØÖµÎªµ¹Á¢°ÚλÖÿØÖÆPWMÖµ } /************************************************************************** º¯Êý¹¦ÄÜ£ºÏÞÖÆPWM¸³Öµ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Xianfu_Pwm(void) { int Amplitude=6900; //===PWMÂú·ùÊÇ7200 ÏÞÖÆÔÚ6900 if(Moto<-Amplitude) Moto=-Amplitude; if(Moto>Amplitude) Moto=Amplitude; } /************************************************************************** º¯Êý¹¦ÄÜ£ºÒì³£¹Ø±Õµç»ú Èë¿Ú²ÎÊý£ºµçѹ ·µ»Ø Öµ£º1£ºÒì³£ 0£ºÕý³£ **************************************************************************/ u8 Turn_Off(void) { u8 temp; if(Flag_Stop==1||(State==1 && (Angle_Balance<(ZHONGZHI-460)||Angle_Balance>(ZHONGZHI+460)))) //¹Ø±Õµç»ú { Flag_Stop=0; Way_Turn=0; Flag_qb2=0; Angle_Max=0; Position_Max=0; State=0; temp=1; TIM_SetCounter(TIM2,10000);//³õʼ»¯¼ÆÊýÆ÷³õÖµ } else { temp=0; } return temp; } void Encoder_App(void) { if(State == 0) //Æð°Úʱ²ÉÑùÈ¡3´ÎÇ󯽾ù£¬5´ÎÖÜÆÚÌ«³¤ { Angle_Balance=Get_ADC(5); } if(State==1) { Angle_Balance=Get_ADC(20);//´Ë¿ØÖÆÖÜÆÚ²»ÐèÒªÄÇô¶Ì£¬Æð°Ú³É¹¦ºó²ÉÑùÈ¡5´ÎÇ󯽾ùÖµ£¬ } D_Angle_Balance= Angle_Balance-Last_Angle_Balance ; //===»ñȡ΢·ÖÖµ if (State == 0 && Way_Turn ==1) { if(Angle_Balance<(ZHONGZHI+200)&&Angle_Balance>(ZHONGZHI-200)) //µ½µ×½Ó½üƽºâλÖà ¼´¿É¿ªÆôƽºâϵͳ { State=1; //µ¹Á¢×´Ì¬ÖÃ1 Way_Turn=0;//×Ô¶¯Æð°Ú±ê־λÇåÁã Flag_qb=0; //×Ô¶¯Æð°Ú²½ÖèÇåÁã Angle_Max=0; Flag_Back=0; } } if(State==0) { Run(Way_Turn);//Æð°Ú ÓÉÈë¿Ú²ÎÊý¿ØÖÆ 1£º×Ô¶¯Æð°Ú 2£ºÊÖ¶¯Æð°Ú if(Turn_Off()==1) //°´ÏÂÍ£Ö¹¼üʱֹͣµç»ú { Moto_qb=0; } } if(State==1) //Æð°Ú³É¹¦Ö®ºó£¬½øÐе¹Á¢¿ØÖÆ { Balance_Pwm =balance_0(Angle_Balance); //¿ªÆôƽºâ¿ØÖÆ if(Flag_qb2==0) //λÖÿØÖÆÑÓʱÆô¶¯ { if(Angle_Balance<(ZHONGZHI+200)&&Angle_Balance>(ZHONGZHI-200))Count_Position++; // if(Count_Position>20)Flag_qb2=1, Count_Position=0,TIM_SetCounter(TIM2,10000); //ÔÚÆ½ºâλÖõ¹Á¢³¬¹ý300ms ¿ªÆôλÖÿØÖÆ } if(Flag_qb2==1) //¿ªÆôλÖÿØÖÆ { Encoder=TIM_GetCounter(TIM2); //===¸üбàÂëÆ÷λÖÃÐÅÏ¢ if(++Count_P2>=4) Position_Pwm=Position_0(Encoder),Count_P2=0; //===λÖÃPD¿ØÖÆ 25ms½øÐÐÒ»´ÎλÖÿØÖÆ } Moto=Balance_Pwm-Position_Pwm; //===¼ÆËãµç»ú×îÖÕPWM Xianfu_Pwm(); //===PWMÏÞ·ù if(Turn_Off()==1) //°´ÏÂÍ£Ö¹¼ü»òÕßÇã½Ç¹ý´ó±£»¤£¬µç»úÍ£Ö¹ { Moto=0; } if(Moto>7200) Moto=7200; if(Moto<-7200)Moto=-7200; Set_Pwm(Moto); //===¸³Öµ¸øPWM¼Ä´æÆ÷ } Last_Angle_Balance=Angle_Balance; //===±£´æÉÏÒ»´ÎµÄÇã½ÇÖµ } 解释上述代码

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