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UnknownObject 2 years ago
parent 75d4709950
commit 8aae0c2754
5 changed files with 44 additions and 30 deletions
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2
2021_Arduino_Demo.vcxproj
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@ -76,7 +76,7 @@
<PreprocessorDefinitions>__AVR_atmega2560__;__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions> <PreprocessorDefinitions>__AVR_atmega2560__;__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<LanguageStandard>stdcpp17</LanguageStandard> <LanguageStandard>stdcpp17</LanguageStandard>
<LanguageStandard_C>stdc11</LanguageStandard_C> <LanguageStandard_C>stdc11</LanguageStandard_C>
<AdditionalIncludeDirectories>$(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories> <AdditionalIncludeDirectories>$(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src\utility;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;$(ProjectDir)..\..\..\RACECA~1\SUBCAR~1\Arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
</ClCompile> </ClCompile>
<Link> <Link>
<GenerateDebugInformation>true</GenerateDebugInformation> <GenerateDebugInformation>true</GenerateDebugInformation>

2
AccurateMotor.h
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@ -21,7 +21,7 @@ private:
bool car_running; bool car_running;
const uint8_t car_speed = 50; const uint8_t car_speed = 50;
const uint8_t car_turn_speed = 100; const uint8_t car_turn_speed = 100;
const uint8_t turn_multplyer = 8; const uint8_t turn_multplyer = 7;
const uint8_t run_multplyer = 100; const uint8_t run_multplyer = 100;
private: private:

66
OpenMVOpt.cpp
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@ -51,42 +51,56 @@ void OpenMVOpt::AdjustCarPosition(uint8_t Car_Speed)
DCMotor.SpeedCtr(50, 5); DCMotor.SpeedCtr(50, 5);
} }
} }
else if (Data_OpenMVBuf[6] <= 50) else
{ {
AccurateMotor.ForceStop();
if (Data_OpenMVBuf[5] == 43) // + Ïò×óµ÷ if (Data_OpenMVBuf[5] == 43) // + Ïò×óµ÷
{ {
DCMotor.SpeedCtr(0, 40); AccurateMotor.TurnLeft(Data_OpenMVBuf[6] / 6);
} }
else if (Data_OpenMVBuf[5] == 45) // - ÏòÓÒµ÷ else if (Data_OpenMVBuf[5] == 45) // - ÏòÓÒµ÷
{ {
DCMotor.SpeedCtr(40, 0); AccurateMotor.TurnRight(Data_OpenMVBuf[6] / 6);
} }
AccurateMotor.DelayUntilCarStop();
DCMotor.SpeedCtr(Car_Speed, Car_Speed);
} }
else if (Data_OpenMVBuf[6] <= 70) //else if (Data_OpenMVBuf[6] <= 50)
{ //{
if (Data_OpenMVBuf[5] == 43) // + Ïò×óµ÷ // if (Data_OpenMVBuf[5] == 43) // + Ïò×óµ÷
{ // {
DCMotor.SpeedCtr(-20, 40); // DCMotor.SpeedCtr(0, 40);
} // }
else if (Data_OpenMVBuf[5] == 45) // - ÏòÓÒµ÷ // else if (Data_OpenMVBuf[5] == 45) // - ÏòÓÒµ÷
{ // {
DCMotor.SpeedCtr(40, -20); // DCMotor.SpeedCtr(40, 0);
} // }
} //}
else if (Data_OpenMVBuf[6] > 70) //else if (Data_OpenMVBuf[6] <= 70)
{ //{
if (Data_OpenMVBuf[5] == 43) // + Ïò×óµ÷ // if (Data_OpenMVBuf[5] == 43) // + Ïò×óµ÷
{ // {
DCMotor.SpeedCtr(-30, 30); // DCMotor.SpeedCtr(-20, 40);
} // }
else if (Data_OpenMVBuf[5] == 45) // - ÏòÓÒµ÷ // else if (Data_OpenMVBuf[5] == 45) // - ÏòÓÒµ÷
{ // {
DCMotor.SpeedCtr(30, -30); // DCMotor.SpeedCtr(40, -20);
} // }
} //}
//else if (Data_OpenMVBuf[6] > 70)
//{
// if (Data_OpenMVBuf[5] == 43) // + Ïò×óµ÷
// {
// DCMotor.SpeedCtr(-30, 30);
// }
// else if (Data_OpenMVBuf[5] == 45) // - ÏòÓÒµ÷
// {
// DCMotor.SpeedCtr(30, -30);
// }
//}
} }
OpenMVOpt::ImageROIData OpenMVOpt::GetROIData() OpenMVOpt::ImageROIData OpenMVOpt::GetROIData()

2
__vm/Compile.vmps.xml
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__vm/Upload.vmps.xml
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