心位置舵机输出占空比,最右,最左,中间r
PWME_PWME11r
PWME_PWME31r
PWME_PWME51使能PWMr
r
r
舵机输出限幅r
voidz_route_processvoidr
r
s_error1k2044r
PWM_lasti
tce
ters_ps_error1r
ifPWM_lastleftt输出限幅r
r
PWM_lastleftr
r
r
ifPWM_lastrightr
r
PWM_lastrightttttttr
r
PWMDTY45PWM_lastr
r
voidr_route_processvoidr
r
s_error1abs_i
tk2444r
PWM_lasti
tce
ters_prs_error1r
ifPWM_lastleftt输出限幅r
r
PWM_lastleftr
r
r
ifPWM_lastrightr
r
PWM_lastrightttttttr
r
PWMDTY45PWM_lastr
r
voidl_route_processvoidr
r
s_error1abs_i
tk244424r
PWM_lasti
tce
ters_pls_error1r
ifPWM_lastleftt输出限幅r
r
PWM_lastleftr
r
r
ifPWM_lastrightr
r
PWM_lastrightttttttr
r
PWMDTY45PWM_lastr
r
r
tttttr
函数Adata_processr
功能:数据处理函数ttttttr
r
赛道算法r
voidAdata_processvoidr
r
ucharleft_
_
ow左边第一个黑点数r
ucharright_
_
ow右边第一个黑点数r
ucharce
ter_
_
ow中间发现黑点的行数r
charshu0r
left_
_
ow0r
right_
_
ow0r
ce
ter_
_
ow0r
jishu0r
forshu0shuROW6shur
r
flag0r
left_
_
ow0r
right_
_
ow0r
form45mLINE2m从中间先往右边采r
r
ifAdatashumthresholdshuAdatashum1thresholdshuAdatashum2thresholdshuAdatashum3thresholdshur
r
right_
_
owm1基准行最右边第一个黑点r
rshum1r
breakr
r
r
form45m3m从中间往左边采r
r
ifAdatashumthresholdshuAdatashum1thresholdshuAdatashum2thresholdshuAdatashum3thresholdshur
r
left_
_
owm1基准行最左边第一个黑点r
lshum1r
breakr
r
r
form41m49mr
r
ifAdatashumthresholdshuAdatashum1thresholdshuAdatashum2thresholdshuAdatashum3thresholdshur
r
co
torl_ha
gshur
flagr
ce
ter_
_
owm1r
breakr
r
r
r
ifright_
_
ow0left_
_
ow0ce
ter_
_
ow0直道r
r
kshuucharright_
_
owleft_
_
ow2r
z_route_processr
r
r
r