添加项目文件。
UnknownObject
2 years ago
parent
b7ebcbb2cb
commit
ab55151a9d
@ -0,0 +1,6 @@
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{
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"port": "COM12",
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"configuration": "cpu=atmega2560",
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"board": "arduino:avr:mega",
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"sketch": "2021_Arduino_Demo.ino"
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}
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@ -0,0 +1,551 @@
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{
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"version": 4,
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"configurations": [
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{
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"name": "Arduino",
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"compilerPath": "C:\\Users\\BKRC-WQ\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7\\bin\\avr-g++",
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"compilerArgs": [
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"-w",
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"-std=gnu++11",
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"-fpermissive",
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"-fno-exceptions",
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"-ffunction-sections",
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"-fdata-sections",
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"-fno-threadsafe-statics",
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"-Wno-error=narrowing"
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],
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"intelliSenseMode": "gcc-x64",
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"includePath": [
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"C:\\Users\\BKRC-WQ\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.4\\cores\\arduino",
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"C:\\Users\\BKRC-WQ\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.4\\variants\\mega",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\DCMotor",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\CoreLED",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\CoreKEY",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\CoreBeep",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\ExtSRAMInterface",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\LED",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\BH1750",
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"C:\\Users\\BKRC-WQ\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.4\\libraries\\Wire\\src",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\Command",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\BEEP",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\Infrares",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\Ultrasonic",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\BKRC_Voice",
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"C:\\Users\\BKRC-WQ\\Desktop\\libraries\\Metro",
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"c:\\users\\bkrc-wq\\appdata\\local\\arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7\\lib\\gcc\\avr\\7.3.0\\include",
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"c:\\users\\bkrc-wq\\appdata\\local\\arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7\\lib\\gcc\\avr\\7.3.0\\include-fixed",
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"c:\\users\\bkrc-wq\\appdata\\local\\arduino15\\packages\\arduino\\tools\\avr-gcc\\7.3.0-atmel3.6.1-arduino7\\avr\\include"
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],
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"forcedInclude": [
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"C:\\Users\\BKRC-WQ\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.8.4\\cores\\arduino\\Arduino.h"
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],
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"cStandard": "c11",
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"cppStandard": "c++11",
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"defines": [
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"F_CPU=16000000L",
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"ARDUINO=10813",
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"ARDUINO_AVR_MEGA2560",
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"ARDUINO_ARCH_AVR",
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"__DBL_MIN_EXP__=(-125)",
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"__HQ_FBIT__=15",
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"__cpp_attributes=200809",
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"__ATOMIC_ACQUIRE=2",
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"__FLT_MIN__=1.17549435e-38F",
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"__BUILTIN_AVR_SLEEP=1",
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"__cpp_aggregate_nsdmi=201304",
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"__BUILTIN_AVR_COUNTLSULLR=1",
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"__UFRACT_MAX__=0XFFFFP-16UR",
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||||
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||||
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|
||||
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|
||||
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|
||||
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File diff suppressed because one or more lines are too long
@ -0,0 +1,60 @@
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|
||||
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|
||||
@ -0,0 +1,93 @@
|
||||
#include "AccurateMotor.h"
|
||||
|
||||
void AccurateMotorClass::Init()
|
||||
{
|
||||
car_running = false;
|
||||
}
|
||||
|
||||
void AccurateMotorClass::SetCarRunning()
|
||||
{
|
||||
AccurateMotor.car_running = true;
|
||||
}
|
||||
|
||||
void AccurateMotorClass::SetCarNotRunning()
|
||||
{
|
||||
AccurateMotor.car_running = false;
|
||||
}
|
||||
|
||||
void AccurateMotorClass::TurnLeft(uint8_t degree)
|
||||
{
|
||||
if (car_running)
|
||||
return;
|
||||
DCMotor.TurnLeft(car_speed, car_speed);
|
||||
SetCarRunning();
|
||||
MsTimer2::set(degree * 50, []()
|
||||
{
|
||||
{
|
||||
DCMotor.Stop();
|
||||
SetCarNotRunning();
|
||||
}
|
||||
});
|
||||
MsTimer2::start();
|
||||
}
|
||||
|
||||
void AccurateMotorClass::TurnRight(uint8_t degree)
|
||||
{
|
||||
if (car_running)
|
||||
return;
|
||||
DCMotor.TurnRight(car_speed, car_speed);
|
||||
SetCarRunning();
|
||||
MsTimer2::set(degree * 50, []()
|
||||
{
|
||||
{
|
||||
DCMotor.Stop();
|
||||
SetCarNotRunning();
|
||||
}
|
||||
});
|
||||
MsTimer2::start();
|
||||
}
|
||||
|
||||
void AccurateMotorClass::RunForward(uint8_t distence)
|
||||
{
|
||||
if (car_running)
|
||||
return;
|
||||
DCMotor.Go(car_speed);
|
||||
SetCarRunning();
|
||||
MsTimer2::set(distence * 100, []()
|
||||
{
|
||||
{
|
||||
DCMotor.Stop();
|
||||
SetCarNotRunning();
|
||||
}
|
||||
});
|
||||
MsTimer2::start();
|
||||
}
|
||||
|
||||
bool AccurateMotorClass::IsCarRunning()
|
||||
{
|
||||
return car_running;
|
||||
}
|
||||
|
||||
void AccurateMotorClass::DelayUntilCarStop()
|
||||
{
|
||||
while (car_running)
|
||||
delay(10);
|
||||
}
|
||||
|
||||
void AccurateMotorClass::RunBackward(uint8_t distence)
|
||||
{
|
||||
if (car_running)
|
||||
return;
|
||||
DCMotor.Back(car_speed);
|
||||
SetCarRunning();
|
||||
MsTimer2::set(distence * 100, []()
|
||||
{
|
||||
{
|
||||
DCMotor.Stop();
|
||||
SetCarNotRunning();
|
||||
}
|
||||
});
|
||||
MsTimer2::start();
|
||||
}
|
||||
|
||||
AccurateMotorClass AccurateMotor;
|
||||
@ -0,0 +1,50 @@
|
||||
#ifndef __DEBUG_OPT__
|
||||
#define __DEBUG_OPT_
|
||||
|
||||
#include <ExtSRAMInterface.h>
|
||||
#include "AccurateMotor.h"
|
||||
#include "GlobalDatas.h"
|
||||
#include <BKRC_Voice.h>
|
||||
#include "OpenMVOpt.h"
|
||||
#include <Infrare.h>
|
||||
#include <CoreLED.h>
|
||||
#include <Command.h>
|
||||
#include <BEEP.h>
|
||||
#include <LED.h>
|
||||
|
||||
namespace DebugOpt
|
||||
{
|
||||
//LED流水灯计数器
|
||||
extern uint8_t led_flow_cnt;
|
||||
//道闸测试指令
|
||||
extern uint8_t open_road_buf[8];
|
||||
//语音播报测试指令
|
||||
extern uint8_t voive_test_buf[9];
|
||||
//语音识别测试指令
|
||||
extern uint8_t voice_trm_buf[8];
|
||||
//红外测试指令
|
||||
extern uint8_t ir_repo_buf[6];
|
||||
|
||||
//LED流水灯
|
||||
void DoLEDFlow();
|
||||
|
||||
//电机运行测试
|
||||
void DebugRun();
|
||||
|
||||
//舵机运行测试
|
||||
void DebugServo();
|
||||
|
||||
//道闸开启测试
|
||||
void Road_Gate_Test();
|
||||
|
||||
//语音播报测试
|
||||
void Speech_Sounds_Ctr();
|
||||
|
||||
//语音识别测试
|
||||
void Speech_Disc();
|
||||
|
||||
//红外发送测试
|
||||
void Infrared_Test();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,41 @@
|
||||
#include "GlobalDatas.h"
|
||||
|
||||
uint8_t GarageB_To1[8] = { 0x55,0x05,0x01,0x01,0x00,0x00,0x02,0xBB }; // 立体车库B 到达第一层
|
||||
uint8_t GarageB_To2[8] = { 0x55,0x05,0x01,0x02,0x00,0x00,0x03,0xBB }; // 立体车库B 到达第二层
|
||||
uint8_t GarageB_To3[8] = { 0x55,0x05,0x01,0x03,0x00,0x00,0x04,0xBB }; // 立体车库B 到达第三层
|
||||
uint8_t GarageB_To4[8] = { 0x55,0x05,0x01,0x04,0x00,0x00,0x05,0xBB }; // 立体车库B 到达第四层
|
||||
|
||||
uint8_t TrafficA_Open[8] = { 0x55,0x0E,0x01,0x00,0x00,0x00,0x01,0xBB }; // 智能交通灯A 进入识别模式 进入识别模式
|
||||
uint8_t TrafficA_Red[8] = { 0x55,0x0E,0x02,0x01,0x00,0x00,0x03,0xBB }; // 智能交通灯A 识别结果为红色请求确认
|
||||
uint8_t TrafficA_Green[8] = { 0x55,0x0E,0x02,0x02,0x00,0x00,0x04,0xBB }; // 智能交通灯A 识别结果为绿色请求确认
|
||||
uint8_t TrafficA_Yellow[8] = { 0x55,0x0E,0x02,0x03,0x00,0x00,0x05,0xBB }; // 智能交通灯A 识别结果为黄色请求确认
|
||||
|
||||
uint8_t Gate_Open[8] = { 0x55,0x03,0x01,0x01,0x00,0x00,0x02,0xBB }; // 道闸 开启
|
||||
|
||||
uint8_t Light_plus1[4] = { 0x00,0xFF,0x0C,~(0x0C) }; // 智能路灯 光源挡位加1
|
||||
uint8_t Light_plus2[4] = { 0x00,0xFF,0x18,~(0x18) }; // 智能路灯 光源挡位加2
|
||||
uint8_t Light_plus3[4] = { 0x00,0xFF,0x5E,~(0x5E) }; // 智能路灯 光源挡位加3
|
||||
|
||||
uint8_t SEG_TimOpen[8] = { 0x55,0x04,0x03,0x01,0x00,0x00,0x04,0xBB }; // LED显示 计时开启
|
||||
uint8_t SMG_TimClose[8] = { 0x55,0x04,0x03,0x00,0x00,0x00,0x03,0xBB }; // LED显示 计时关闭
|
||||
|
||||
uint8_t ZigBee_back[16] = { 0x55, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
|
||||
|
||||
uint8_t qrdi_buf[8] = { 0x55,0x02,0x92,0x00,0x00,0x00,0x00,0xBB }; // 给OpenMV发送识别二维码
|
||||
|
||||
uint8_t trackdi_buf[8] = { 0x55,0x02,0x91,0x00,0x00,0x00,0x00,0xBB }; //OpenMV循迹指令
|
||||
|
||||
uint8_t servo_buf[8] = { 0x55,0x02,0x91,0x03,0x00,0x00,0x00,0xBB }; // 给OpenMV发送舵机角度
|
||||
|
||||
//全局变量
|
||||
uint8_t ATM_Data[ATM_Data_Length];
|
||||
uint8_t ZigBee_command[8];
|
||||
uint8_t ZigBee_judge;
|
||||
uint8_t infrare_com[6];
|
||||
uint8_t sendflag;
|
||||
unsigned long frisrtime;
|
||||
unsigned long Tcount;
|
||||
uint8_t Data_Type;
|
||||
uint8_t Data_Flag;
|
||||
uint8_t Data_Length;
|
||||
uint8_t Data_OTABuf[40];
|
||||
@ -0,0 +1,48 @@
|
||||
#ifndef __GLOBAL_DATAS__
|
||||
#define __GLOBAL_DATAS__
|
||||
#include <Wire.h>
|
||||
|
||||
#define TSendCycle 200
|
||||
#define ATM_Data_Length 48
|
||||
|
||||
extern uint8_t GarageB_To1[8]; // 立体车库B 到达第一层
|
||||
extern uint8_t GarageB_To2[8]; // 立体车库B 到达第二层
|
||||
extern uint8_t GarageB_To3[8]; // 立体车库B 到达第三层
|
||||
extern uint8_t GarageB_To4[8]; // 立体车库B 到达第四层
|
||||
|
||||
extern uint8_t TrafficA_Open[8]; // 智能交通灯A 进入识别模式 进入识别模式
|
||||
extern uint8_t TrafficA_Red[8]; // 智能交通灯A 识别结果为红色请求确认
|
||||
extern uint8_t TrafficA_Green[8]; // 智能交通灯A 识别结果为绿色请求确认
|
||||
extern uint8_t TrafficA_Yellow[8]; // 智能交通灯A 识别结果为黄色请求确认
|
||||
|
||||
extern uint8_t Gate_Open[8]; // 道闸 开启
|
||||
|
||||
extern uint8_t Light_plus1[4]; // 智能路灯 光源挡位加1
|
||||
extern uint8_t Light_plus2[4]; // 智能路灯 光源挡位加2
|
||||
extern uint8_t Light_plus3[4]; // 智能路灯 光源挡位加3
|
||||
|
||||
extern uint8_t SEG_TimOpen[8]; // LED显示 计时开启
|
||||
extern uint8_t SMG_TimClose[8]; // LED显示 计时关闭
|
||||
|
||||
extern uint8_t ZigBee_back[16];
|
||||
|
||||
extern uint8_t qrdi_buf[8]; // 给OpenMV发送识别二维码
|
||||
|
||||
extern uint8_t trackdi_buf[8]; //OpenMV循迹指令
|
||||
|
||||
extern uint8_t servo_buf[8]; // 给OpenMV发送舵机角度
|
||||
|
||||
//全局变量
|
||||
extern uint8_t ATM_Data[ATM_Data_Length];
|
||||
extern uint8_t ZigBee_command[8];
|
||||
extern uint8_t ZigBee_judge;
|
||||
extern uint8_t infrare_com[6];
|
||||
extern uint8_t sendflag;
|
||||
extern unsigned long frisrtime;
|
||||
extern unsigned long Tcount;
|
||||
extern uint8_t Data_Type;
|
||||
extern uint8_t Data_Flag;
|
||||
extern uint8_t Data_Length;
|
||||
extern uint8_t Data_OTABuf[40];
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,30 @@
|
||||
#ifndef __HANDLER__
|
||||
#define __HANDLER__
|
||||
|
||||
#include "GlobalDatas.h"
|
||||
#include "DebugOpt.h"
|
||||
|
||||
namespace Handler
|
||||
{
|
||||
//ZigBee信息接收处理
|
||||
void ZigBeeRx_Handler(uint8_t* mar);
|
||||
|
||||
//OpenMV信息接收处理
|
||||
void OpenMVRx_Handler(uint8_t* mac);
|
||||
|
||||
//主车指令接收处理
|
||||
void MainCarRx_Handler(uint8_t* com);
|
||||
|
||||
//按键事件处理函数 - 0
|
||||
void Key_0();
|
||||
//按键事件处理函数 - 1
|
||||
void Key_1();
|
||||
//按键事件处理函数 - 2
|
||||
void Key_2();
|
||||
//按键事件处理函数 - 3
|
||||
void Key_3();
|
||||
//按键接收处理
|
||||
void KEY_Handler(uint8_t k_value);
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,167 @@
|
||||
#include "OpenMVOpt.h"
|
||||
|
||||
uint8_t OpenMVOpt::Data_OpenMVBuf[8] = { 0 };
|
||||
|
||||
void OpenMVOpt::AdjustCarPosition(uint8_t Car_Speed)
|
||||
{
|
||||
if (Data_OpenMVBuf[6] <= 5) // 车身正无需校准
|
||||
{
|
||||
if (Data_OpenMVBuf[5] == 43) // + 向左调
|
||||
{
|
||||
DCMotor.SpeedCtr(Car_Speed, Car_Speed);
|
||||
}
|
||||
else if (Data_OpenMVBuf[5] == 45) // - 向右调
|
||||
{
|
||||
DCMotor.SpeedCtr(Car_Speed, Car_Speed);
|
||||
}
|
||||
}
|
||||
else if (Data_OpenMVBuf[6] <= 15) // 车身微偏
|
||||
{
|
||||
if (Data_OpenMVBuf[5] == 43) // + 向左调
|
||||
{
|
||||
DCMotor.SpeedCtr(20, 50);
|
||||
}
|
||||
else if (Data_OpenMVBuf[5] == 45) // - 向右调
|
||||
{
|
||||
DCMotor.SpeedCtr(50, 20);
|
||||
}
|
||||
}
|
||||
else if (Data_OpenMVBuf[6] <= 25)
|
||||
{
|
||||
|
||||
if (Data_OpenMVBuf[5] == 43) // + 向左调
|
||||
{
|
||||
DCMotor.SpeedCtr(10, 50);
|
||||
}
|
||||
else if (Data_OpenMVBuf[5] == 45) // - 向右调
|
||||
{
|
||||
DCMotor.SpeedCtr(50, 10);
|
||||
}
|
||||
}
|
||||
else if (Data_OpenMVBuf[6] <= 35)
|
||||
{
|
||||
|
||||
if (Data_OpenMVBuf[5] == 43) // + 向左调
|
||||
{
|
||||
DCMotor.SpeedCtr(5, 50);
|
||||
}
|
||||
else if (Data_OpenMVBuf[5] == 45) // - 向右调
|
||||
{
|
||||
DCMotor.SpeedCtr(50, 5);
|
||||
}
|
||||
}
|
||||
else if (Data_OpenMVBuf[6] <= 50)
|
||||
{
|
||||
|
||||
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(-5, 30);
|
||||
}
|
||||
else if (Data_OpenMVBuf[5] == 45) // - 向右调
|
||||
{
|
||||
DCMotor.SpeedCtr(30, -5);
|
||||
}
|
||||
}
|
||||
else if (Data_OpenMVBuf[6] > 70)
|
||||
{
|
||||
|
||||
if (Data_OpenMVBuf[5] == 43) // + 向左调
|
||||
{
|
||||
DCMotor.SpeedCtr(-10, 20);
|
||||
}
|
||||
else if (Data_OpenMVBuf[5] == 45) // - 向右调
|
||||
{
|
||||
DCMotor.SpeedCtr(20, -10);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void OpenMVOpt::OpenMVTrack_Disc_StartUp()
|
||||
{
|
||||
trackdi_buf[3] = 0x01; //开始识别
|
||||
Command.Judgment(trackdi_buf); //计算校验和
|
||||
ExtSRAMInterface.ExMem_Write_Bytes(0x6008, trackdi_buf, 8);
|
||||
}
|
||||
|
||||
void OpenMVOpt::OpenMVTrack_Disc_CloseUp()
|
||||
{
|
||||
trackdi_buf[3] = 0x02; //关闭识别
|
||||
Command.Judgment(trackdi_buf); //计算校验和
|
||||
ExtSRAMInterface.ExMem_Write_Bytes(0x6008, trackdi_buf, 8);
|
||||
}
|
||||
|
||||
void OpenMVOpt::OpenMV_Track(uint8_t Car_Speed)
|
||||
{
|
||||
uint32_t num = 0;
|
||||
Car_Speed = 50;
|
||||
// 清空串口缓存
|
||||
while (ExtSRAMInterface.ExMem_Read(0x6038) != 0x00)
|
||||
ExtSRAMInterface.ExMem_Read_Bytes(0x6038, Data_OpenMVBuf, 1);
|
||||
OpenMVTrack_Disc_StartUp();
|
||||
delay(500);
|
||||
DCMotor.SpeedCtr(Car_Speed, Car_Speed);
|
||||
Serial.println("Video Track Start.");
|
||||
while (1)
|
||||
{
|
||||
delay(10); //增加延迟防止卡死
|
||||
if (ExtSRAMInterface.ExMem_Read(0x6038) != 0x00) //检测OpenMV识别结果
|
||||
{
|
||||
ExtSRAMInterface.ExMem_Read_Bytes(0x6038, Data_OpenMVBuf, 8);
|
||||
if ((Data_OpenMVBuf[0] == 0x55) && (Data_OpenMVBuf[1] == 0x02) && (Data_OpenMVBuf[2] == 0x91))
|
||||
{
|
||||
num++;
|
||||
Serial.println(num);
|
||||
if (Data_OpenMVBuf[4] == 1) // 路口
|
||||
{
|
||||
DCMotor.Stop();
|
||||
OpenMVTrack_Disc_CloseUp();
|
||||
break;
|
||||
}
|
||||
else // 调整
|
||||
AdjustCarPosition(Car_Speed);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void OpenMVOpt::OpenMVQr_Disc_StartUp()
|
||||
{
|
||||
qrdi_buf[3] = 0x01; //开始识别
|
||||
Command.Judgment(qrdi_buf); //计算校验和
|
||||
ExtSRAMInterface.ExMem_Write_Bytes(0x6008, qrdi_buf, 8);
|
||||
}
|
||||
|
||||
void OpenMVOpt::OpenMVQr_Disc_CloseUp()
|
||||
{
|
||||
qrdi_buf[3] = 0x02; //关闭识别
|
||||
Command.Judgment(qrdi_buf); //计算校验和
|
||||
ExtSRAMInterface.ExMem_Write_Bytes(0x6008, qrdi_buf, 8);
|
||||
}
|
||||
|
||||
void OpenMVOpt::Servo_Control(int8_t angle)
|
||||
{
|
||||
if (angle >= 0)
|
||||
{
|
||||
servo_buf[4] = 0x2B;
|
||||
}
|
||||
else
|
||||
{
|
||||
servo_buf[4] = 0x2D;
|
||||
}
|
||||
servo_buf[5] = abs(angle); //开始识别
|
||||
Command.Judgment(servo_buf); //计算校验和
|
||||
ExtSRAMInterface.ExMem_Write_Bytes(0x6008, servo_buf, 8);
|
||||
delay(1000);
|
||||
}
|
||||
@ -0,0 +1,32 @@
|
||||
#ifndef __OPENMV_OPT__
|
||||
#define __OPENMV_OPT__
|
||||
|
||||
#include <ExtSRAMInterface.h>
|
||||
#include "GlobalDatas.h"
|
||||
#include <DCMotor.h>
|
||||
#include <Command.h>
|
||||
|
||||
namespace OpenMVOpt
|
||||
{
|
||||
extern uint8_t Data_OpenMVBuf[8];
|
||||
|
||||
//车身姿态调整
|
||||
void AdjustCarPosition(uint8_t Car_Speed);
|
||||
|
||||
//启动视频循迹
|
||||
void OpenMVTrack_Disc_StartUp();
|
||||
//停止视频循迹
|
||||
void OpenMVTrack_Disc_CloseUp();
|
||||
//循迹（到下一路口）
|
||||
void OpenMV_Track(uint8_t Car_Speed);
|
||||
|
||||
//启动二维码识别
|
||||
void OpenMVQr_Disc_StartUp();
|
||||
//停止二维码识别
|
||||
void OpenMVQr_Disc_CloseUp();
|
||||
|
||||
//舵机角度控制
|
||||
void Servo_Control(int8_t angle);
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,93 @@
|
||||
/*
|
||||
Editor: https://www.visualmicro.com/
|
||||
This file is for intellisense purpose only.
|
||||
Visual micro (and the arduino ide) ignore this code during compilation. This code is automatically maintained by visualmicro, manual changes to this file will be overwritten
|
||||
The contents of the _vm sub folder can be deleted prior to publishing a project
|
||||
All non-arduino files created by visual micro and all visual studio project or solution files can be freely deleted and are not required to compile a sketch (do not delete your own code!).
|
||||
Note: debugger breakpoints are stored in '.sln' or '.asln' files, knowledge of last uploaded breakpoints is stored in the upload.vmps.xml file. Both files are required to continue a previous debug session without needing to compile and upload again
|
||||
|
||||
Hardware: ATmega2560 (Mega 2560) (Arduino Mega) (mega_atmega2560), Platform=avr, Package=arduino
|
||||
*/
|
||||
|
||||
#if defined(_VMICRO_INTELLISENSE)
|
||||
|
||||
#ifndef _VSARDUINO_H_
|
||||
#define _VSARDUINO_H_
|
||||
#define __AVR_atmega2560__ 1
|
||||
#define __AVR_ATmega2560__ 1
|
||||
#define F_CPU 16000000L
|
||||
#define ARDUINO 108010
|
||||
#define ARDUINO_AVR_MEGA2560 1
|
||||
#define ARDUINO_ARCH_AVR 1
|
||||
#define __cplusplus 201103L
|
||||
#define _Pragma(x)
|
||||
#define __AVR__
|
||||
#define __inline__
|
||||
#define __asm__(...)
|
||||
#define __extension__
|
||||
#define __inline__
|
||||
#define __volatile__
|
||||
// Redefine __cplusplus to correct version: https://www.visualmicro.com/forums/YaBB.pl?num=1592217268
|
||||
#undef __cplusplus
|
||||
#define __cplusplus 201103L
|
||||
|
||||
//#define GCC_VERSION 40902
|
||||
//https://www.visualmicro.com/forums/YaBB.pl?num=1569762585/5#5
|
||||
#define __GNUC__ 5
|
||||
#define __GNUC_MINOR__ 4
|
||||
#define __GNUC_PATCHLEVEL__ 0
|
||||
#define GCC_VERSION ((__GNUC__*10000)+(__GNUC_MINOR__*100)+__GNUC_PATCHLEVEL__))
|
||||
|
||||
|
||||
#define volatile(va_arg)
|
||||
#define _CONST
|
||||
#define __builtin_va_start
|
||||
#define __builtin_va_end
|
||||
#define __attribute__(...)
|
||||
#define NOINLINE __attribute__((noinline))
|
||||
#define prog_void
|
||||
#define PGM_VOID_P int
|
||||
|
||||
|
||||
#ifndef __builtin_constant_p
|
||||
#define __builtin_constant_p __attribute__((__const__))
|
||||
#endif
|
||||
#ifndef __builtin_strlen
|
||||
#define __builtin_strlen __attribute__((__const__))
|
||||
#endif
|
||||
|
||||
|
||||
#define NEW_H
|
||||
typedef void *__builtin_va_list;
|
||||
//extern "C" void __cxa_pure_virtual() {;}
|
||||
|
||||
typedef int div_t;
|
||||
typedef int ldiv_t;
|
||||
|
||||
|
||||
typedef void *__builtin_va_list;
|
||||
//extern "C" void __cxa_pure_virtual() {;}
|
||||
|
||||
|
||||
|
||||
#include <arduino.h>
|
||||
#include <pins_arduino.h>
|
||||
//#undef F
|
||||
//#define F(string_literal) ((const PROGMEM char *)(string_literal))
|
||||
#undef PSTR
|
||||
#define PSTR(string_literal) ((const PROGMEM char *)(string_literal))
|
||||
|
||||
//typedef unsigned char uint8_t;
|
||||
//typedef unsigned int uint8_t;
|
||||
|
||||
#define pgm_read_byte_near(address_short) uint8_t()
|
||||
#define pgm_read_byte(address_short) uint8_t()
|
||||
#define pgm_read_word(address_short) uint16_t()
|
||||
#define pgm_read_dword(address_short) uint32_t()
|
||||
#define pgm_read_float(address_short) float()
|
||||
#define pgm_read_ptr(address_short) short()
|
||||
|
||||
#include "2021_Arduino_Demo.ino"
|
||||
#include "OpenMV_Track.ino"
|
||||
#endif
|
||||
#endif
|
||||
@ -0,0 +1,92 @@
|
||||
/*
|
||||
Editor: https://www.visualmicro.com/
|
||||
This file is for intellisense purpose only.
|
||||
Visual micro (and the arduino ide) ignore this code during compilation. This code is automatically maintained by visualmicro, manual changes to this file will be overwritten
|
||||
The contents of the _vm sub folder can be deleted prior to publishing a project
|
||||
All non-arduino files created by visual micro and all visual studio project or solution files can be freely deleted and are not required to compile a sketch (do not delete your own code!).
|
||||
Note: debugger breakpoints are stored in '.sln' or '.asln' files, knowledge of last uploaded breakpoints is stored in the upload.vmps.xml file. Both files are required to continue a previous debug session without needing to compile and upload again
|
||||
|
||||
Hardware: ATmega2560 (Mega 2560) (Arduino Mega) (mega_atmega2560), Platform=avr, Package=arduino
|
||||
*/
|
||||
|
||||
#if defined(_VMICRO_INTELLISENSE)
|
||||
|
||||
#ifndef _VSARDUINO_H_
|
||||
#define _VSARDUINO_H_
|
||||
#define __AVR_atmega2560__ 1
|
||||
#define __AVR_ATmega2560__ 1
|
||||
#define F_CPU 16000000L
|
||||
#define ARDUINO 108010
|
||||
#define ARDUINO_AVR_MEGA2560 1
|
||||
#define ARDUINO_ARCH_AVR 1
|
||||
#define __cplusplus 201103L
|
||||
#define _Pragma(x)
|
||||
#define __AVR__
|
||||
#define __inline__
|
||||
#define __asm__(...)
|
||||
#define __extension__
|
||||
#define __inline__
|
||||
#define __volatile__
|
||||
// Redefine __cplusplus to correct version: https://www.visualmicro.com/forums/YaBB.pl?num=1592217268
|
||||
#undef __cplusplus
|
||||
#define __cplusplus 201103L
|
||||
|
||||
//#define GCC_VERSION 40902
|
||||
//https://www.visualmicro.com/forums/YaBB.pl?num=1569762585/5#5
|
||||
#define __GNUC__ 5
|
||||
#define __GNUC_MINOR__ 4
|
||||
#define __GNUC_PATCHLEVEL__ 0
|
||||
#define GCC_VERSION ((__GNUC__*10000)+(__GNUC_MINOR__*100)+__GNUC_PATCHLEVEL__))
|
||||
|
||||
|
||||
#define volatile(va_arg)
|
||||
#define _CONST
|
||||
#define __builtin_va_start
|
||||
#define __builtin_va_end
|
||||
#define __attribute__(...)
|
||||
#define NOINLINE __attribute__((noinline))
|
||||
#define prog_void
|
||||
#define PGM_VOID_P int
|
||||
|
||||
|
||||
#ifndef __builtin_constant_p
|
||||
#define __builtin_constant_p __attribute__((__const__))
|
||||
#endif
|
||||
#ifndef __builtin_strlen
|
||||
#define __builtin_strlen __attribute__((__const__))
|
||||
#endif
|
||||
|
||||
|
||||
#define NEW_H
|
||||
typedef void *__builtin_va_list;
|
||||
//extern "C" void __cxa_pure_virtual() {;}
|
||||
|
||||
typedef int div_t;
|
||||
typedef int ldiv_t;
|
||||
|
||||
|
||||
typedef void *__builtin_va_list;
|
||||
//extern "C" void __cxa_pure_virtual() {;}
|
||||
|
||||
|
||||
|
||||
#include <arduino.h>
|
||||
#include <pins_arduino.h>
|
||||
//#undef F
|
||||
//#define F(string_literal) ((const PROGMEM char *)(string_literal))
|
||||
#undef PSTR
|
||||
#define PSTR(string_literal) ((const PROGMEM char *)(string_literal))
|
||||
|
||||
//typedef unsigned char uint8_t;
|
||||
//typedef unsigned int uint8_t;
|
||||
|
||||
#define pgm_read_byte_near(address_short) uint8_t()
|
||||
#define pgm_read_byte(address_short) uint8_t()
|
||||
#define pgm_read_word(address_short) uint16_t()
|
||||
#define pgm_read_dword(address_short) uint32_t()
|
||||
#define pgm_read_float(address_short) float()
|
||||
#define pgm_read_ptr(address_short) short()
|
||||
|
||||
#include "2021_Arduino_Demo.ino"
|
||||
#endif
|
||||
#endif
|
||||
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Reference in New Issue