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UnknownObject
2023-06-15 10:07:02 +08:00
parent 75d4709950
commit 8aae0c2754
5 changed files with 44 additions and 30 deletions
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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>
<LanguageStandard>stdcpp17</LanguageStandard>
<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>
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>
AccurateMotor.h
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@@ -21,7 +21,7 @@ private:
bool car_running;
const uint8_t car_speed = 50;
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;
private:
OpenMVOpt.cpp
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@@ -51,42 +51,56 @@ void OpenMVOpt::AdjustCarPosition(uint8_t Car_Speed)
DCMotor.SpeedCtr(50, 5);
}
}
else if (Data_OpenMVBuf[6] <= 50)
else
{
AccurateMotor.ForceStop();
if (Data_OpenMVBuf[5] == 43) // + 向左调
{
DCMotor.SpeedCtr(0, 40);
AccurateMotor.TurnLeft(Data_OpenMVBuf[6] / 6);
}
else if (Data_OpenMVBuf[5] == 45) // - 向右调
{
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) // + 向左调
{
DCMotor.SpeedCtr(-20, 40);
}
else if (Data_OpenMVBuf[5] == 45) // - 向右调
{
DCMotor.SpeedCtr(40, -20);
}
}
else if (Data_OpenMVBuf[6] > 70)
{
// if (Data_OpenMVBuf[5] == 43) // + 向左调
// {
// DCMotor.SpeedCtr(0, 40);
// }
// else if (Data_OpenMVBuf[5] == 45) // - 向右调
// {
// DCMotor.SpeedCtr(40, 0);
// }
//}
//else if (Data_OpenMVBuf[6] <= 70)
//{
if (Data_OpenMVBuf[5] == 43) // + 向左调
{
DCMotor.SpeedCtr(-30, 30);
}
else if (Data_OpenMVBuf[5] == 45) // - 向右调
{
DCMotor.SpeedCtr(30, -30);
}
}
// if (Data_OpenMVBuf[5] == 43) // + 向左调
// {
// DCMotor.SpeedCtr(-20, 40);
// }
// else if (Data_OpenMVBuf[5] == 45) // - 向右调
// {
// DCMotor.SpeedCtr(40, -20);
// }
//}
//else if (Data_OpenMVBuf[6] > 70)
//{
// if (Data_OpenMVBuf[5] == 43) // + 向左调
// {
// DCMotor.SpeedCtr(-30, 30);
// }
// else if (Data_OpenMVBuf[5] == 45) // - 向右调
// {
// DCMotor.SpeedCtr(30, -30);
// }
//}
}
OpenMVOpt::ImageROIData OpenMVOpt::GetROIData()
__vm/Compile.vmps.xml
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__vm/Upload.vmps.xml
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