1、C语言
2、单片机
3、电路原理
4、电磁电感或者是关于摄像头方面的知识
5、电机原理
6、信息处理
等等
如果你想获奖的话，还要研究加速减速，急转向等等细节问题。硬件
上需要车模、
电源管理电路、
飞思卡尔
单片机
、检测电路（针对不同的要求
传感器
不同，如线圈--
电磁
、红外对射--光电、ccd--摄像头）
软件上需要Freescale
CodeWarrior编辑器再加上你写的程序。其实只有程序也没有用，要将程序和硬件接合起来才行。比如硬件里用PT0，程序里用PT1，当然不会达到预期目的。下在是上海交通大学的程序。
Mainc
#include <hidefh> / common defines and macros /
#include <mc9s12db128h> / derivative information /
#pragma LINK_INFO DERIVATIVE "mc9s12db128b"
#include "defineh"
#include "inith"
// variable used in video process
volatile unsigned char image_data[ROW_MAX][LINE_MAX] ; // data array of picture
unsigned char black_x[ROW_MAX] ; // 0ne-dimensional array
unsigned char row ; // x-position of the array
unsigned char line ; // y-position of the array
unsigned int row_count ; // row counter
unsigned char line_sample ; // used to counter in AD
unsigned char row_image ;
unsigned char line_temp ; // temperary variable used in data transfer
unsigned char sample_data[LINE_MAX] ; // used to save one-dimension array got in
interruption
// variables below are used in speed measure
Unsigned char pulse[5] ; // used to save data in PA process
Unsigned char counter; // temporary counter in Speed detect
Unsigned char cur_speed; // current speed
short stand;
short data;
unsigned char curve ; // valve used to decide straight or turn
short Bounds(short data);
short FuzzyLogic(short stand);
/----------------------------------------------------------------------------\
receive_sci
\----------------------------------------------------------------------------/
unsigned char receive_sci(void) // receive data through sci
{ unsigned char sci_data;
while(SCI0SR1_RDRF!=1);
sci_data=SCI0DRL;
return sci_data;
}
/----------------------------------------------------------------------------\
transmit_sci
\----------------------------------------------------------------------------/
void transmit_sci(unsigned char transmit_data) // send data through sci
{
while(SCI0SR1_TC!=1);
while(SCI0SR1_TDRE!=1);
SCI0DRL=transmit_data;
}
/
/
/----------------------------------------------------------------------------\
abs_sub
\----------------------------------------------------------------------------/
unsigned char abs_sub(unsigned char num1, unsigned char num2)
{ unsigned char difference;
if(num1>=num2){
difference=num1-num2;
}else{
difference=num2-num1;
}
return difference;
}
void pwm_set(unsigned int dutycycle)
{
PWMDTY1=dutycycle&0x00FF;
PWMDTY0=dutycycle>>8;
}
void get_black_wire(void) // used to extract black wire
{ unsigned char i;
for(row=0;row<ROW_MAX;row++){
for(line=LINE_MIN;line<LINE_MAX-3;line++){
if(image_data[row][line]>image_data[row][line+3]+VALVE){
for(i=3;i<10;i++){
if(image_data[row][line+i]+VALVE<image_data[row][line+i+3]){
black_x[row]=line+i/2+2;
i=10;
}
}
line=LINE_MAX;
} else{
//black_x[row]=(black_x[row]/45)78;
}
}
}
}
/----------------------------------------------------------------------------\
speed_control
\----------------------------------------------------------------------------/
void speed_control(void)
{
unsigned int sum,average;
sum=0;
for(row=0;row<FIRST_FIVE;row++){
sum=sum+black_x[row];
}
average=sum/FIRST_FIVE;
curve=0;
for(row=0;row<FIRST_FIVE;row++)
{
curve=curve+abs_sub(black_x[row],average);
if(curve>CURVE_MAX){
curve_flag=0;
speed=low_speed;}
else{
curve_flag=1;
speed=hign_speed;
}
}
}
/----------------------------------------------------------------------------\
steer_control
\----------------------------------------------------------------------------/
void steer_control(void)
{ unsigned int dutycycle;
unsigned char video_center;
unsigned int coefficient;
int E,U; //current
static int e=0;
video_center=(LINE_MIN+LINE_MAX)/2;
stand=abs_sub(black_x[1]+ black_x[9],2black_x[5]);
E=video_center-black_x[8];
coefficient=30+1FuzzyLogic(stand);
U=coefficientE;
dutycycle=Bounds(center+U);
pwm_set(dutycycle);
}
// make sure it is within bounds
short Bounds(short data){
if(data>right_limit){
data = right_limit;
}
if(data<left_limit){
data = left_limit;
}
return data;
}
Void speed_get(void)
{
Unsigned char temp;
Counter++;
Temp=PACN1;
cur_speed=temp-pulse[counter-1];
pulse[counter-1]=temp;
if(counter==5)
{
counter=0;
}
}
Void set_speed(unsigned char desired_speed)
{
If(desired_speed<cur_speed)
{
PWMDTY2=low_speed;
}
Else
{
PWMDTY2=high_speed;
}
}
/
\
Main
\
/
void main(void) {
// main functiion
init_PORT() ;
// port initialization
init_PLL() ;
// setting of the PLL
init_ECT();
init_PWM() ;
// PWM INITIALIZATION
init_SPEED() ;
init_SCI() ;
for(;;) {
if(field_signal==0){ // even->odd
while(field_signal==0);
row_count=0;
row_image=0;
EnableInterrupts;
while(row_count<ROW_END){
get_black_wire();
speed_control();
steer_control();
}
DisableInterrupts;
}
else{ // odd->even
while(field_signal==1);
row_count=0;
row_image=0;
EnableInterrupts;
while(row_count<ROW_END){
get_black_wire();
speed_control();
steer_control();
}
DisableInterrupts;
}
/ transmit_sci('x');
for(row=0;row<ROW_MAX;row++){
transmit_sci(black_x[row]);
}
transmit_sci(curve);
/
}
}
interrupt 6 void IRQ_ISR()
{
row_count++;
if((row_count>ROW_START)&&(row_count%INTERVAL==0)&&(row_image<ROW_MAX))
{
init_AD();
for(line_sample=0;line_sample<LINE_MAX;line_sample++){
while(!ATD0STAT1_CCF0); // WAIT FOR TRANSFORM TO END
sample_data[line_sample]=signal_in; // A/D transfer
}
ATD0CTL2=0x00;
row_image++;
}
if((row_count>ROW_START)&&(row_count%INTERVAL==2)&&(row_image<ROW_MAX+
1)){
for(line_temp=0;line_temp<LINE_MAX;line_temp++){
image_data[row_image-1][line_temp]=sample_data[line_temp];
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// THE END
//
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Defineh // all macros are define in this header file
/----------------------------------------------------------------------------\
macro need to be used in video sample
\----------------------------------------------------------------------------/
////////////////////////////
#define signal_in ATD0DR0L // signal from video: right aligned mode，
// only use low 8-bit in ATD Conversion Result
Registers
#define field_signal PTT_PTT2 // field signal is sent into PortT_bit2
#define LINE_MIN 12 // first effective pint in each row
#define LINE_MAX 78 // number of points sampled in each row
#define ROW_MAX 10 // number of rows needed to be sampled in each
picture
#define ROW_START 50 // begin to sample from line start
#define ROW_END 300 // end flag of sampling
#define INTERVAL 20 // interval between effective rows
#define VALVE 24 // valve to decide black track or white track
#define FIRST_FIVE 5
/----------------------------------------------------------------------------\
舵机控制变量
\----------------------------------------------------------------------------/
#define left_limit 7400 //
#define center 6400 //
#define right_limit 5400 //
//#define coefficient 30 // (LEFT-RIGHT)/(LINE_MAX-LINE_MIN)
/----------------------------------------------------------------------------\
速度控制变量
\----------------------------------------------------------------------------/
#define curve_flag PORTE_BIT2 // indicate straight line or not
#define speed PWMDTY2 // speed of the car
#define CURVE_MAX 24 // valve to decide straight track or not
#define hign_speed 120 // speed used on straight track
#define low_speed 100 // speed used on the turn
/----------------------------------------------------------------------------\
define jump wire; code switch; Led
\----------------------------------------------------------------------------/
#define JP4_1 PTT_PTT7 // JP4
#define JP4_2 PTT_PTT6
#define JP4_3 PTT_PTT5
#define JP4_4 PTT_PTT4
#define JP4_5 PTP_PTP4
#define JP4_6 PTP_PTP5
#define JP4_7 PTP_PTP6
// define code switch
#define RP1_1 PTM_PTM0
#define RP1_2 PTM_PTM1
#define RP1_3 PTM_PTM2
#define RP1_4 PTM_PTM3
#define RP1_5 PTM_PTM4
#define RP1_6 PTM_PTM5
#define RP1_7 PORTAD0_PTAD4
#define RP1_8 PORTAD0_PTAD3
// define Led
#define Led1 PORTA_BIT4
#define Led2 PORTA_BIT5
#define Led3 PORTA_BIT6
#define Led4 PORTA_BIT7
Initc // include initial function in this file
#include <hidefh> / common defines and macros /
#include <mc9s12db128h> / derivative information /
#include "defineh" / all macro included /
#include "inith" / all init function included /
#pragma LINK_INFO DERIVATIVE "mc9s12db128b"
/----------------------------------------------------------------------------\
init_PLL
\----------------------------------------------------------------------------/
void init_PLL(void)
// setting of the PLL
{
REFDV=3;
SYNR=7; // bus period=16Mhz(SYNR+1)/(REFDV+1)
while(0==CRGFLG_LOCK); // wait for VCO to stablize
CLKSEL=0x80;
// open PLL
}
Void init_ECT(void);
{
TIOS_IOS3=0; // set PT3 as input capture
TCTL4=0b11000000; // set pt3 as any edge triggered
ICPAR_PA1EN=1; // PA1 enabled
}
/----------------------------------------------------------------------------\
init_PORT
\----------------------------------------------------------------------------/
void init_PORT(void) // port initialization
{
DDRT_DDRT2=0;
// Port M1 function as even-odd field signal
input
DDRJ_DDRJ6=1;
// Port J6 enable 33886 0 enable
// Led port
DDRA_BIT4 =1;
DDRA_BIT5 =1;
DDRA_BIT6 =1;
DDRA_BIT7 =1;
INTCR_IRQE =1; // IRQ Select Edge Sensitive Only
INTCR_IRQEN=1; // External IRQ Enable
//输出指示 JP4_1 PTT_PTT0
DDRT_DDRT7=1;
DDRT_DDRT6=1;
DDRT_DDRT5=1;
DDRT_DDRT4=1;
DDRP_DDRP4=1; //PTP_PTP0
DDRP_DDRP5=1;
DDRP_DDRP7=1;
}
/----------------------------------------------------------------------------\
init_AD
\----------------------------------------------------------------------------/
void init_AD(void)
// initialize AD
{
ATD0CTL2=0xC0;
// open AD, quick clear, no wait mode, inhibit outer awake, inhibit interrupt
ATD0CTL3=0x08;
// one transform in one sequence, No FIFO, contine to transform under freeze mode
ATD0CTL4=0x81;
// 8-bit precision, two clocks, ATDClock=[BusClock05]/[PRS+1] ; PRS=1, divider=4 ;
BusClock=8MHZ
ATD0CTL5=0xA0; // right-algned unsigned，single channel，
channel 0
ATD0DIEN=0x00; // inhibit digital input
}
/----------------------------------------------------------------------------\
init_PWM
\----------------------------------------------------------------------------/
void init_PWM(void)
// PWM initialize
{
PTJ_PTJ6 = 0 ; // "0" enable 33886 motor, "1" disable it
PWME = 0x00 ; // PWW is disabled
PWMCTL_CON01 = 1 ; // combine PWM0,1
PWMPRCLK = 0x33 ; // A=B=32M/8=4M
PWMSCLA = 100 ; // SA=A/2/100=20k
PWMSCLB = 1 ; // SB=B/2/1 =2000k
PWMCLK = 0b00011100; // PWM0,1-A; PWM2,3-SB; PWM4-SA
PWMPOL = 0xff ; // Duty＝High Time
PWMCAE = 0x00 ; // left-aligned
PWMPER0 = 0x4e ;
PWMPER1 = 0x20 ;
// 20000 = 0x4e20; Frequency=A/20000=200Hz
PWMDTY0 = 0x18 ;
PWMDTY1 = 0x6a ; // initialize PWM
PWME_PWME1 = 1 ; // enable steer
PWMDTY2 = 20 ; // Duty cycle
PWMPER2 = 200 ; // Frequency=SB/200=10K
PWME_PWME2 = 1 ; // enable motor
}
/----------------------------------------------------------------------------\
init_SPEED
\----------------------------------------------------------------------------/
void init_SPEED(void) {
DDRM_DDRM0 =0 ; //code switch 1 on RP1
DDRM_DDRM1 =0 ; //code switch 1 on RP1
DDRM_DDRM2 =0 ; //code switch 1 on RP1
DDRM_DDRM3 =0 ; //code switch 1 on RP1
DDRM_DDRM4 =0 ; //code switch 1 on RP1
DDRM_DDRM5 =0 ; //code switch 1 on RP1
ATD0DIEN_IEN4 = 1; //code switch 1 on RP1,Enable Digital Input PAD4
ATD0DIEN_IEN3 = 1; //code switch 1 on RP1,Enable Digital Input PAD3
if(RP1_1==1) {
speed= hign_speed +2(RP1_210+RP1_35+RP1_42+RP1_52+RP1_6+RP1_7+RP1_8);
}
else{
speed= hign_speed -2(RP1_210+RP1_35+RP1_42+RP1_52+RP1_6+RP1_7+RP1_8);
}
}
/
/
/----------------------------------------------------------------------------\
init_SCI
\----------------------------------------------------------------------------/
void init_SCI(void) // initialize SCI
{
SCI0BD = 104 ; // bode rate=32M/(16SCI0BD)=19200
SCI0CR1=0x00 ; //
SCI0CR2=0b00001100 ;
}
Inith
void init_PLL(void);
void init_AD(void);
void init_PWM(void);
void init_SPEED(void);
void init_SCI(void);
void init_PORT(void);
Void init_ECT(void);
Fuzzyasm // S12 fuzzy logic code
RAM: section
; Fuzzy Membership sets
; input membership variables
absentry fuzvar
fuzvar: dsb 5 ; inputs
Z: equ 0 ; indicate of straight line
VS: equ 1 ; turn slightly
S: equ 2 ; turn a little
BB: equ 3 ; a big turn
VB: equ 4 ; a very big turn
;output membership variables
absentry fuzout
fuzout: dsb 4 ; outputs
remain: equ 5 ; no change on kp
little: equ 6 ; little change on kp
big: equ 7 ; big change on Kp
very_big: equ 8 ; very big change on kp
EEPROM: section
; fuzzification
s_tab: dcb 0,35,0,8 ; indicate of straight line
dcb 0,69,8,8 ; turn slightly
dcb 35,104,8,8 ; turn a little
dcb 69,138,8,8 ; a big turn
dcb 104,255,8,0 ; a very big turn
rules: ;
constructing of rule
dcb Z, $FE,remain,$FE
dcb VS, $FE,little,$FE
dcb S, $FE,big,$FE
dcb BB, $FE,big,$FE
dcb VB, $FE,very_big,$FE
dcb $FF ;end of the rule
addsingleton:
dcb 0,1,2,3 ; setting of the weight
absentry FuzzyLogic
FuzzyLogic:
pshx
ldx #s_tab
ldy #fuzvar
mem ; number of mem indicates the number of input
mem
mem
mem
mem
ldab #4 ; number of output fuzzy membership sets
cloop:
clr 1,y+ ; clear output fuzzy variables
dbne b,cloop
ldx #rules
ldy #fuzvar
ldaa #$FF
rev
ldy #fuzout
ldx #addsingleton
ldab #4
wav
ediv ;
tfr y,d ; return dpower
pulx
rts
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