2345-做什么都隊代碼部分

1、一、底層控制底層控制采用的是 Arduino Mega 單片機，下面附上代碼/以 15 毫秒一步的速度轉(zhuǎn)動#include Servo servo1; / 建立 Servo 實例Servo servo2;const servo1Pin = 6; / servo1 接 Pin 8 const servo2Pin = 7; / servo2 接 Pin 9 const every1 = 15;const every2 = 15; servo1= 180;servo2= 0;servo1Dir = 1;servo2Dir = 1;OfServo1 = 90;OfServo2 = 90; count=

2、0;read1,read2,read3,read4,read5;/ struct location x;y;d;locate;/ #define READ1 22/2 #define READ2 24/4 #define READ3 26/7/ #define READ4 28/8 #define READ5 30/11/ #define L1 32/A0#define L2 34/A1 #define L3 36/A2 #define L4 38/A3/ #define R1 40/A4#define R2 42/A5 #define R3 44/12 #define R4 46/13/ #

3、define ENAL 2/5 #define ENBL 3/6 #define ENAR 4#define ENBR 5/ void setup() / servo1.attach(servo1Pin, 500, 2500); / pin8,servo2.attach(servo2Pin, 500, 2500); / pin9 Serial.begin(9600);servo1.write( OfServo1); servo2.write(OfServo2); Serial.prln(2 Servo test); delay(500);/ p1,OUTPUT);p2,OUTPUT);p3,O

4、UTPUT);p4,OUTPUT); p ode(R1,OUTPUT); p ode(R2,OUTPUT); p ode(R3,OUTPUT); p ode(R4,OUTPUT);pode(ENAL,OUTPUT); pode(ENBL,OUTPUT); pode(ENAR,OUTPUT); pode(ENBR,OUTPUT);pode(READ1, INPUT); pode(READ2, INPUT);pode(READ3, INPUT); pode(READ4, INPUT);pode(READ5, INPUT);locate.x=0; locate.y=0; locate.d=0;voi

5、d loop( ) / delay(10000);movef(); delay(25000); Stop(); delay(100); Back(); delay(18000); Stop(); delay(100); movef(); delay(10000); Stop(); delay(100);while(OfServo190)checkServo1();delay(3000); Backf(); delay(30000);void Read()read1=digitalRead(READ1); read2=digitalRead(READ2); read3=digitalRead(R

6、EAD3); read4=digitalRead(READ4); read5=digitalRead(READ5);void Stop()digitalWri1,LOW); digitalWri2,LOW); digitalWri3,LOW); digitalWri4,LOW);ogWrite(ENAL,150); ogWrite(ENBL,150);digitalWrite(R1,LOW); digitalWrite(R2,LOW); digitalWrite(R3,LOW); digitalWrite(R4,LOW);ogWrite(ENAR,255); ogWrite(ENBR,0);二

7、、識別部分識別部分采用的是將頭的數(shù)據(jù)通過 STM32F429 單片機上的 wifi 傳送到上位機上，在上位機上進行處理以后，在傳送控制信號到單片機，完成對小車的控制。圖像識別算法采用的是模式識別，該識別方法有簡單的特性，但是識別成功率較低，所以最后放棄了圖像識別。三、總結(jié)底層控制的代碼相對簡單，主要是對硬件的調(diào)試。圖像識別代碼是最為關(guān)鍵的部分，同時也是最難的部分，參賽者們可以多花精力在上面。void checkServo1( ) sic u32_t Timer; if (Timer millis()return;Timer = millis() + every1;if (servo1OfServo1) OfServo1 += servo1Dir; else if (servo1=OfServo1) return; else OfServo1 += -servo1Dir;servo1.write(OfServo1);void checkServo2( ) sic u32_t Timer; if (Timer millis()return;Timer = millis() + every2;if (ser