#include "image.h" #include "isr.h" #include "led.h" #include "ctrl.h" #include "lcd.h" #define IMAGE_CENTER 40 #define BLACK 1 #define WHITE 0 #define STEER_LEFT 640//100 左极限 左加右减 #define STEER_RIGHT 465//50 右极限 #define Threshold 180//白天:180 晚上: 大于阈值为白色 //--------------------variable declared--------------------------------- unsigned int steer_turn;//舵机转角 /***************image process***************************/ char err[ ROW_MAX ]={0}; char slop1;//斜率 char slop2;// char slop_add;// unsigned char black_mid[ ROW_MAX ]={0};//中心点 unsigned char Road_mid[ ROW_MAX ][LINE_MAX]={0,0};//赛道中心 【显示用】 //-------------------------------------------------------------------- int i,j; int search_end_flg=0; int controler_steer; volatile unsigned char right_lose=1; volatile unsigned char left_lose=1; volatile unsigned char H_youwan=0,H_zuowan=0,L_youwan=0,L_zuowan=0; unsigned char err_cnt=0; extern void sci_send(unsigned char dat); //串口发送数字 void send_num(unsigned int number) { unsigned char a[4],i=0,time=0; a[3]=number%10; a[2]=number%100/10; a[1]=number%1000/100; a[0]=number/1000; time=0; if(number<10) time=1; else if(number<100&&number>=10) time=2; else if(number>=100&&number<999) time=3; else time=4; for(i=0;ib) { x=b;b=a;a=x;} if(b>c) { x=c;c=b;b=x;} if(a>b) { x=b;b=a;a=x;} return b; } //----------------求绝对差--------------------------------- unsigned int abs_sub(unsigned int num1, unsigned int num2) { ...
