智能车程序（国外英文资料）.docVIP

智能车程序（国外英文资料） (2) its a very good thing The # include x.h / * ink-specific definitions * / The Number of lines in # define Number 500 / / encoder The # define circulm 77 / / encoder is about 77mm in front of the car # define PItt_Aime 40000 / / 10MS is interrupted once # define Vmax 4500 / / defined speed PWM is the largest proportion of the space # define Vmin 0 / / define speed PWM minimum ratio Float speed_A, setspeed_A = 0, speed_B, setspeed_B = 0; / / speed_A is the current test speed for A motor, setspeed_A is the standard speed defined by A motor. Similarly there are B motor Float Kp_A = 0, Kd_A = 0, Ki_A = 0, Kp_B = 0, Kd_B = 0, Ki_B = 0; / / A and B motors define the parameters of P, I, and D Float e_A [3] = {0, 0, 0}, e_B [3] = {0, 0}. / / define the first three deviations of A and B motor Float pwmspeed0_A = 0, pwmspeed_A = 0, pwmspeed_B = 0. / / A motor speed the previous output value, A motor speed current output value  similarly have B motor Float t1_A t1_B; / / calculate the intermediate variable Float tt_A tt_B; / / ECT input captures the current value Float t0_A = 0, t0_B = 0; / / to save the current time Float side_line [46]; / / use floating point data to store the black line center Unsigned int speedflag_A = 0, speedflag_B = 0, PIDflag = 0; / / defines whether or not to enter the control and sign position Void PIT_INIT (void); / / PIT initialization Void PID_control (void); / / PID control Int line, point, counter = 0, points, ccdflag = 0, remember = 11, MM; Unsigned int y_1, y_2, b, a, c, d, Po, QQ, Q [10], y_4, Y [9]; Static unsigned int CCDdata [46]. Static unsigned int left_mark, left_mark1, right_mark, right_mark1, aa, bb; Word AD_wValue; / / AD conversion results Void AD_Init (); Void AD_GetValue (); Void getADout (void); Void interrupt 9 Timer0_Onput (void); Void interrupt 8 Timer1_Onput (void); Void deal_the_sideline (); Void aaaa (); Unsigned int I; / / static int PWM. Void Sys_init (void); / / system initialization functions Void PLL_s