摄像头组程序.docVIP

飞思卡尔智能车摄像头组程序 //中值滤波有可能把一个点的中心滤掉 //70度是往左转 #include hidef.h #include math.h #include MC9S12XS128.h #pragma LINK_INFO DERIVATIVE mc9s12xs128 #define uchar unsigned char #define uint unsigned int #define T 0.02 #define PWUP PTH_PTH7 #define CE PORTB_PB7 #define CS PORTB_PB3 #define CLK1 PORTB_PB1 #define DR1 PORTB_PB2 #define DATA PORTB_PB0 unsigned int RxBuf[20]; ///////////////////////////////////////////////////guangdianbianma #define TIME_INTER 1000 //1000个ms=1s unsigned int Get_pulse; //脉冲个数 unsigned int number_count; float sudu; uint count ,maichong; float speed; ///////////////////////////////////////////////////////////////////// unsigned int get_n[]={ 32,45,70,74,87,100,112,123,133,141, //采点的行数 148,155,161,166,171, 176,181,185,188,192,196,200,204,208,212,216,219, 222,225,228,231,234,237,240,243,245,247,249,251,253}; unsigned char c_lie=0; // 二维数组 unsigned int lie_count=0,hang_count=0; //摄像头 uchar ta1[4][36]; //阈值的三行 // unsigned char c_row=0,g_row=0; unsigned char c_line=0; //采集使用 unsigned int row_count=0,line_count=0; unsigned char ta[40][36]; //采集回来的电压值 unsigned char *pimage_data1=ta[0][0]; //指向采集数组 //////////////////////////// float KP; float KI; float KD; int curr_speed; int LastError ; //Error[-1] int PrevError; //Error[-2] int iError; int pid; // uchar PWM_max_zuo=200,PWM_max_you=150; float PWM_Speed=0; float speed_zuo,speed_you; uchar flag,g=0; uchar whitedian=0; float zhuanjiao; float jiaozheng_slop1; float jiaozheng_slop2; float jiaozheng_add; float slop_line; float miss_xian; unsigned char ta2[40][36]; //二值化后的数值 float blackxian[40]; //矫正后的黑线位置 uchar blackcenter[40]; //矫正前的黑线位置 uchar blackline1[40][2]; //blackline1[aa][0]是外边蓝边的中心，blackline1[aa][1] ? 是黑线的中心? float blackline2[40][2]; //矫正后的blackline2[aa][0]是外边蓝边的中心，blackline2[aa][1] ? 是黑线的中心? uchar heidian[40][2]; // heidian[aa][0]是外边蓝边的黑点数， heidia[aa][1] ? 是黑线黑点个数 unsigned char q=0,m=0,n=0; char distence,distence1; unsigned int yuzhi1=26; //阈值的初值。很有用，如果第0采集错误将无法计算正确的阈值 unsigned int yuzhi2=25; //阈值的初值。很