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RaceSubCar
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commit after race

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master
UnknownObject 2 years ago
parent af59a049ac
commit ac062e5932
16 changed files with 260 additions and 77 deletions
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2
2021_Arduino_Demo.ino
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@ -16,7 +16,7 @@
void setup()
{
Serial.begin(115200);
//Serial.begin(115200);
CoreLED.Initialization();
CoreKEY.Initialization();
CoreBeep.Initialization();

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>
<LanguageStandard>stdcpp17</LanguageStandard>
<LanguageStandard_C>stdc11</LanguageStandard_C>
<AdditionalIncludeDirectories>$(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src\utility;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;$(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>
<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>
</ClCompile>
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>

3
AccurateMotor.h
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@ -21,7 +21,8 @@ private:
bool car_running;
const uint16_t car_speed = 50;
const uint16_t car_slow_speed = 10;
const uint16_t car_turn_speed = 100;
//const uint16_t car_turn_speed = 100;
const uint16_t car_turn_speed = 97;
const uint16_t turn_multplyer = 7;
const uint16_t run_multplyer = 100;

46
AutoPathRunner.cpp
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@ -16,12 +16,12 @@ AutoPathRunner::MapPoint::MapPoint(int x, int y)
this->y = y;
}
int AutoPathRunner::MapPoint::GetX()
int AutoPathRunner::MapPoint::GetX() const
{
return x;
}
int AutoPathRunner::MapPoint::GetY()
int AutoPathRunner::MapPoint::GetY() const
{
return y;
}
@ -160,11 +160,24 @@ AutoPathRunner::MapPoint AutoPathRunner::Mapping(const char* name)
return MapPoint();
}
const char* AutoPathRunner::ReverseMapping(MapPoint point)
String AutoPathRunner::ReverseMapping(const MapPoint& point)
{
/*//Serial.println("----------Begin Reverse Map----------");
//Serial.print(String("Target Value: (") + point.GetX());
//Serial.print(String(",") + point.GetY());
//Serial.println(")");*/
for (auto& [key, value] : std_points)
{
/*//Serial.print(String("Current Value: (") + value.GetX());
//Serial.print(String(", ") + value.GetY());
//Serial.println(")");*/
if (value == point)
return key;
{
////Serial.println("----------End Reverse Map----------");
return String(key);
}
}
////Serial.println("----------End(Error) Reverse Map----------");
return "";
}
@ -258,7 +271,7 @@ AutoPathRunner::MapPoint* AutoPathRunner::DecodeRoute(const char* route, int& po
return list;
}
void AutoPathRunner::DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos)
void AutoPathRunner::DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos, MCRCallback cb)
{
//调整K210舵机至循迹角度
OpenMVOpt::Servo_Control(-60);
@ -268,12 +281,18 @@ void AutoPathRunner::DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos)
if (i != 1)
{
//向前一定距离
//Serial.println("RunForward(3)");
AccurateMotor.RunForward(3);
AccurateMotor.DelayUntilCarStop();
if ((cb != nullptr) && (!last_point.NeedTurn(points[i], pos)))
{
//Serial.println("Callback Here");
cb(ReverseMapping(last_point), pos);
}
}
if (last_point.NeedTurn(points[i], pos))
{
//TurnFlag = true;
//Serial.print("Turn ");
switch (last_point.CalcTurnDirection(points[i], pos))
{
case TurnDirection::Left:
@ -281,23 +300,32 @@ void AutoPathRunner::DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos)
AccurateMotor.TurnLeft(90);
AccurateMotor.DelayUntilCarStop();
ChangePositon(pos, TurnDirection::Left);
//Serial.println("Left");
break;
case TurnDirection::Right:
//右转
AccurateMotor.TurnRight(90);
AccurateMotor.DelayUntilCarStop();
ChangePositon(pos, TurnDirection::Right);
//Serial.println("Right");
break;
default:
break;
}
if (cb != nullptr)
{
//Serial.println("Callback Here");
cb(ReverseMapping(last_point), pos);
}
//向前循迹
OpenMVOpt::OpenMV_Track(8, TrackCallback);
OpenMVOpt::OpenMV_Track(8, TrackCallback, false);
////Serial.println("OpenMVOpt::OpenMV_Track(8, TrackCallback, false);");
}
else
{
//向前循迹
OpenMVOpt::OpenMV_Track(8, TrackCallback);
OpenMVOpt::OpenMV_Track(8, TrackCallback, false);
////Serial.println("OpenMVOpt::OpenMV_Track(8, TrackCallback, false);");
}
last_point = points[i];
}
@ -362,7 +390,7 @@ void AutoPathRunner::ReversingIntoGarage(bool a_b_select, uint8_t target_floor)
}
}
} while (true);
AccurateMotor.TurnLeft(90);
AccurateMotor.TurnLeft(180);
AccurateMotor.DelayUntilCarStop();
OpenMVOpt::OpenMV_TrackInPlace();
do

10
AutoPathRunner.h
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@ -44,8 +44,8 @@ namespace AutoPathRunner
MapPoint();
MapPoint(int x, int y);
public:
int GetX();
int GetY();
int GetX() const;
int GetY() const;
void SetX(int x);
void SetY(int y);
bool NeedTurn(MapPoint next, CarHeadPosition pos);
@ -64,8 +64,10 @@ namespace AutoPathRunner
PointMapper(const char* n, const MapPoint& p);
};
typedef void(*MCRCallback)(String point, CarHeadPosition pos);
MapPoint Mapping(const char* name);
const char* ReverseMapping(MapPoint point);
String ReverseMapping(const MapPoint& point);
void ChangePositon(CarHeadPosition& pos, TurnDirection turn);
CarHeadPosition Int2Position(int pos);
bool TrackCallback();
@ -73,7 +75,7 @@ namespace AutoPathRunner
//解析路线
MapPoint* DecodeRoute(const char* route, int& point_cnt);
//执行路径指令
void DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos);
void DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos, MCRCallback cb = nullptr);
//区分RFID卡和特殊地形标志物
bool IsSpecTerrainItem();
//倒车入库

4
DebugOpt.cpp
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@ -112,8 +112,8 @@ void DebugOpt::Speech_Disc()
2-6为指定词条识别，具体信息可查看通信协议*/
sph_id = BKRC_Voice.BKRC_Voice_Extern(0);
delay(200);
Serial.print("识别到的词条ID为：");
Serial.println(sph_id, HEX);
//Serial.print("识别到的词条ID为：");
//Serial.println(sph_id, HEX);
//voice_trm_buf[2] = sph_id;
//ExtSRAMInterface.ExMem_Write_Bytes(0x6008, voice_trm_buf, 8);//上传识别结果至评分终端
}

12
GlobalDatas.h
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@ -51,15 +51,15 @@ namespace DataTool
{
template<typename T = uint8_t> void PrintDataArray(T* arr, uint8_t len)
{
Serial.println("------Data Array------");
//Serial.println("------Data Array------");
for (uint8_t i = 0; i < len; i++)
{
Serial.print("arr[");
Serial.print(i);
Serial.print("] = 0x");
Serial.println(arr[i], HEX);
//Serial.print("arr[");
//Serial.print(i);
//Serial.print("] = 0x");
//Serial.println(arr[i], HEX);
}
Serial.println("------Array End------");
//Serial.println("------Array End------");
}
};

173
Handler.cpp
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@ -1,5 +1,67 @@
#include "Handler.h"
void Handler::AutoRunnerCallback(String point, AutoPathRunner::CarHeadPosition pos)
{
//Serial.print("Callback(");
//Serial.print((point == "") ? "EMPTY" : point);
//Serial.println(String(",") + (int)pos + ")");
AccurateMotor.ForceStop();
OpenMVOpt::OpenMVTrack_Disc_CloseUp();
AccurateMotor.ForceStop();
if ((point == "D2")/* && (pos == AutoPathRunner::CarHeadPosition::Y_Negitive)*/)
{
TrafficLightCommand cmd;
ZigBeeOperator.SendCommand(cmd.CMD_EnterIdentifyMode());
delay(500);
ZigBeeOperator.SendCommand(cmd.CMD_CheckRandomResult());
delay(500);
AccurateMotor.RunBackwardSlow(3);
AccurateMotor.DelayUntilCarStop();
OpenMVOpt::OpenMV_TrackInPlace();
AccurateMotor.RunForwardSlow(9);
AccurateMotor.DelayUntilCarStop();
}
else if (point == "B4")
{
_3DDisplayCommand cmd;
uint8_t data[128] = { 0 };
AccurateMotor.TurnLeft(45);
AccurateMotor.DelayUntilCarStop();
cmd.CMD_IR_CarLicenseMode_1to4('A', 'B', 'C', 'D');
delay(200);
cmd.CMD_IR_CarLicenseMode_5to6_XY('E', 'F', 'E', '2');
AccurateMotor.TurnRight(45);
AccurateMotor.DelayUntilCarStop();
/*AccurateMotor.TurnRight(90);
AccurateMotor.DelayUntilCarStop();
OpenMVOpt::Servo_Control(0);
delay(500);
OpenMVOpt::OpenMVQr_Disc_StartUp();
bool ret = OpenMVOpt::OpenMV_WaitQRData(data, 128, 2000);
OpenMVOpt::OpenMVQr_Disc_CloseUp();
AccurateMotor.TurnLeft(135);
AccurateMotor.DelayUntilCarStop();
if (!ret)
{
cmd.CMD_IR_CarLicenseMode_1to4('A', 'B', 'C', 'D');
delay(200);
cmd.CMD_IR_CarLicenseMode_5to6_XY('E', 'F', 'E', '2');
}
else
{
String str = OpenMVOpt::DecodeQRData(data, 128);
_3DDisplayCommand cmd;
cmd.CMD_IR_CarLicenseMode_1to4(str[0], str[1], str[2], str[3]);
delay(200);
cmd.CMD_IR_CarLicenseMode_5to6_XY(str[4], str[5], 'E', '2');
}
OpenMVOpt::Servo_Control(-60);
delay(500);
AccurateMotor.TurnRight(135);
AccurateMotor.DelayUntilCarStop();*/
}
}
void Handler::ZigBeeRx_Handler(uint8_t* mar)
{
CommandDecoder decoder(mar);
@ -18,15 +80,15 @@ void Handler::ZigBeeRx_Handler(uint8_t* mar)
GarageCommand cmd;
if (cmd.IsPositionData(mar))
{
Serial.print("Garage at: ");
Serial.println(cmd.CurrentPos(mar));
//Serial.print("Garage at: ");
//Serial.println(cmd.CurrentPos(mar));
}
if (cmd.IsIRData(mar))
{
Serial.print("Front IR: ");
Serial.println(cmd.FrontIRTiggered(mar) ? "Triggered" : "Not Triggered");
Serial.print("Back IR: ");
Serial.println(cmd.BackIRTiggered(mar) ? "Triggered" : "Not Triggered");
//Serial.print("Front IR: ");
//Serial.println(cmd.FrontIRTiggered(mar) ? "Triggered" : "Not Triggered");
//Serial.print("Back IR: ");
//Serial.println(cmd.BackIRTiggered(mar) ? "Triggered" : "Not Triggered");
}
break;
}
@ -37,24 +99,24 @@ void Handler::ZigBeeRx_Handler(uint8_t* mar)
byte m, d, h, mm, s;
if (cmd.ReadRTCDate(mar, y, m, d))
{
Serial.print(y);
Serial.print("-");
Serial.print(m);
Serial.print("-");
Serial.println(d);
//Serial.print(y);
//Serial.print("-");
//Serial.print(m);
//Serial.print("-");
//Serial.println(d);
}
else
Serial.println("Invalidate Date");
//Serial.println("Invalidate Date");
if (cmd.ReadRTCTime(mar, h, mm, s))
{
Serial.print(h);
Serial.print(":");
Serial.print(mm);
Serial.print(":");
Serial.println(s);
//Serial.print(h);
//Serial.print(":");
//Serial.print(mm);
//Serial.print(":");
//Serial.println(s);
}
else
Serial.println("Invalidate Time");
//Serial.println("Invalidate Time");
break;
}
case CommandData::Devices::AlarmTower: //ºìÍⱨ¾¯±êÖ¾Îï
@ -62,8 +124,8 @@ void Handler::ZigBeeRx_Handler(uint8_t* mar)
AlarmTowerCommand cmd;
if (cmd.IsAlarmTowerCommand(mar))
{
Serial.print("Rescue Position: ");
Serial.println(cmd.ReadRescuePosition(mar), HEX);
//Serial.print("Rescue Position: ");
//Serial.println(cmd.ReadRescuePosition(mar), HEX);
}
break;
}
@ -138,38 +200,45 @@ void Handler::MainCarRx_Handler(uint8_t* com)
switch(decoder.GetMainCommand())
{
case CommandData::MainCarCommand::StartRun:
if (decoder.GetDataBit(1) == CommandData::MainCarCommand::StartRunSub)
{
int point_cnt = 0;
AutoPathRunner::MapPoint* points = AutoPathRunner::DecodeRoute("B7-B6-D6-F6-F4-D4-B4-B2-D2-D1", point_cnt);
AutoPathRunner::DoRun(points, point_cnt, AutoPathRunner::CarHeadPosition::X_Positive);
CommandEncoder encoder;
encoder.SetDevice(0xAA); //Ö÷³µ
encoder.SetCommand(0xAA, 0xAA, 0xAA, 0xAA);
AutoPathRunner::MapPoint* points = AutoPathRunner::DecodeRoute("E2-D2-B2-B4-B6-B7", point_cnt);
AutoPathRunner::DoRun(points, point_cnt, AutoPathRunner::CarHeadPosition::Y_Negitive, AutoRunnerCallback);
ZigBeeOperator.SendCommand(encoder.GetCommandArray());
delay(200);
ZigBeeOperator.SendCommand(encoder.GetCommandArray());
OpenMVOpt::Servo_Control(-60);
delay(1500);
}
AutoPathRunner::ReversingIntoGarage(true, 3);
break;
case CommandData::MainCarCommand::RunningRoute:
dynamic_route_recv = "";
dynamic_route_recv.concat((char)decoder.GetDataBit(1));
dynamic_route_recv.concat((char)decoder.GetDataBit(2));
dynamic_route_recv.concat('-');
Serial.print("Route Command: ");
Serial.println(dynamic_route_recv);
//Serial.print("Route Command: ");
//Serial.println(dynamic_route_recv);
break;
case CommandData::MainCarCommand::RunningRouteData:
dynamic_route_recv.concat((char)decoder.GetDataBit(1));
dynamic_route_recv.concat((char)decoder.GetDataBit(2));
if (decoder.GetDataBit(3) == CommandData::MainCarCommand::RouteDataStop)
{
Serial.println(dynamic_route_recv);
Serial.println("Run!");
dynamic_route_recv += "-B7";
//Serial.println(dynamic_route_recv);
//Serial.println("Run!");
int point_cnt = 0;
AutoPathRunner::MapPoint* points = AutoPathRunner::DecodeRoute(dynamic_route_recv.c_str(), point_cnt);
AutoPathRunner::DoRun(points, point_cnt, AutoPathRunner::CarHeadPosition::X_Positive);
AutoPathRunner::DoRun(points, point_cnt, AutoPathRunner::CarHeadPosition::Y_Negitive, AutoRunnerCallback);
delay(1500);
AutoPathRunner::ReversingIntoGarage(true, 3);
}
else
{
dynamic_route_recv.concat('-');
Serial.println(dynamic_route_recv);
//Serial.println(dynamic_route_recv);
}
break;
}
@ -278,20 +347,22 @@ void Handler::MainCarRx_Handler(uint8_t* com)
void Handler::Key_0()
{
int point_cnt = 0;
AutoPathRunner::MapPoint* points = AutoPathRunner::DecodeRoute("B7-B6-D6-F6-F4-D4-B4-B2-D2-D1", point_cnt);
AutoPathRunner::DoRun(points, point_cnt, AutoPathRunner::CarHeadPosition::X_Positive);
AutoPathRunner::MapPoint* points = AutoPathRunner::DecodeRoute("E2-D2-B2-B4-B6-B7", point_cnt);
AutoPathRunner::DoRun(points, point_cnt, AutoPathRunner::CarHeadPosition::Y_Negitive, AutoRunnerCallback);
delay(1500);
AccurateMotor.TurnLeft(90);
AccurateMotor.DelayUntilCarStop();
AccurateMotor.RunForward(20);
AccurateMotor.DelayUntilCarStop();
AutoPathRunner::ReversingIntoGarage(true, 3);
}
void Handler::Key_1()
{
OpenMVOpt::OpenMVTrack_Disc_CloseUp();
/*OpenMVOpt::OpenMVTrack_Disc_CloseUp();
delay(500);
OpenMVOpt::Servo_Control(0);
OpenMVOpt::Servo_Control(0);*/
AccurateMotor.TurnLeft(90);
AccurateMotor.DelayUntilCarStop();
delay(2000);
AccurateMotor.TurnLeft(180);
AccurateMotor.DelayUntilCarStop();
}
void Handler::Key_2()
@ -299,19 +370,29 @@ void Handler::Key_2()
OpenMVOpt::Servo_Control(-60);
delay(500);
OpenMVOpt::OpenMV_Track(8, []() { return false; }, false);
AutoPathRunner::ReversingIntoGarage(false, 0x04);
AutoPathRunner::ReversingIntoGarage(true, 0x03);
}
void Handler::Key_3()
{
_3DDisplayCommand cmd;
TextEncoder encoder("主车不动安如山，从车乱飞墙撞翻。");
while(encoder.HasNextChar())
uint8_t data[128] = { 0 };
OpenMVOpt::OpenMVQr_Disc_StartUp();
if (!OpenMVOpt::OpenMV_WaitQRData(data, 128, 2000))
{
byte b1, b2;
encoder.GetNextChar(b1, b2);
ZigBeeOperator.SendCommand(cmd.CMD_ZIGBEE_CustomTextAdd(b1, b2, encoder.IsLastChar()));
OpenMVOpt::OpenMVQr_Disc_CloseUp();
LED.LeftTurnOn();
}
else
{
OpenMVOpt::OpenMVQr_Disc_CloseUp();
LED.RightTurnOn();
AccurateMotor.TurnLeft(135);
AccurateMotor.DelayUntilCarStop();
String str = OpenMVOpt::DecodeQRData(data, 128);
_3DDisplayCommand cmd;
cmd.CMD_IR_CarLicenseMode_1to4(str[0], str[1], str[2], str[3]);
delay(200);
cmd.CMD_IR_CarLicenseMode_5to6_XY(str[4], str[5], 'B', '6');
}
}

3
Handler.h
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@ -11,6 +11,9 @@
namespace Handler
{
//自动运行系统回调
void AutoRunnerCallback(String point, AutoPathRunner::CarHeadPosition pos);
//ZigBee信息接收处理
void ZigBeeRx_Handler(uint8_t* mar);

51
OpenMVOpt.cpp
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@ -153,7 +153,7 @@ void OpenMVOpt::OpenMV_Track(uint8_t Car_Speed, TrackCallback cb, bool enable_wh
if(Data_OpenMVBuf[2] == 0x91)
{
num++;
Serial.println(num);
//Serial.println(num);
if (Data_OpenMVBuf[4] == 1) // ·¿Ú
{
DCMotor.Stop();
@ -226,3 +226,52 @@ void OpenMVOpt::Servo_Control(int8_t angle)
ExtSRAMInterface.ExMem_Write_Bytes(0x6008, servo_buf, 8);
delay(1000);
}
bool OpenMVOpt::OpenMV_WaitQRData(uint8_t* data, uint16_t max_len, uint16_t timeout)
{
uint16_t time_passed = 0;
while (ExtSRAMInterface.ExMem_Read(0x6038) == 0x00)
{
delay(1);
if (timeout != 0)
{
time_passed++;
if (time_passed >= timeout)
return false;
}
}
ExtSRAMInterface.ExMem_Read_Bytes(0x6038, data, max_len);
if ((data[0] != 0x55) || (data[1] != 0x92) || (data[2] != 0x01))
return false;
else
return true;
}
String OpenMVOpt::DecodeQRData(uint8_t* data, uint16_t len)
{
bool require_letter = true;
bool require_number = false;
uint8_t data_len = data[3];
String result = "";
for (int i = 0; i < (data_len + 4); i++)
{
if (require_letter && ((data[i] >= 'A') && (data[i] <= 'Z')))
{
require_letter = false;
require_number = true;
result.concat((char)data[i]);
}
else if (require_number && ((data[i] >= '0') && (data[i] <= '9')))
{
result.concat((char)data[i]);
if (result.length() >= 4)
{
require_letter = true;
require_number = false;
}
}
if (result.length() >= 6)
return result;
}
return "";
}

4
OpenMVOpt.h
Unescape Escape View File

@ -49,6 +49,10 @@ namespace OpenMVOpt
void OpenMVQr_Disc_StartUp();
//停止二维码识别
void OpenMVQr_Disc_CloseUp();
//等待二维码数据回传（超时：毫秒）
bool OpenMV_WaitQRData(uint8_t* data, uint16_t max_len, uint16_t timeout = 0);
//解析二维码数据
String DecodeQRData(uint8_t* data, uint16_t len);
//舵机角度控制
void Servo_Control(int8_t angle);

4
RodeLightCommand.cpp
Unescape Escape View File

@ -75,8 +75,8 @@ byte RodeLightCommand::GetCurrentLevel()
if (light_arr[i] < light_arr[j])
Swap(light_arr[i], light_arr[j]);
/*DataTool::PrintDataArray(light_arr, 4);
Serial.print("Current: ");
Serial.println(current, HEX);*/
//Serial.print("Current: ");
//Serial.println(current, HEX);*/
return CalcLevel(light_arr, current);
}

12
TrafficLightCommand.cpp
Unescape Escape View File

@ -4,6 +4,12 @@
#include "TrafficLightCommand.h"
uint8_t TrafficLightCommand::RandomDisc()
{
randomSeed(micros());
return random(0x01, 0x04);
}
TrafficLightCommand::TrafficLightCommand()
{
SetDevice(CommandData::Devices::TrafficLight_A);
@ -31,6 +37,12 @@ byte* TrafficLightCommand::CMD_CheckResult(Color color)
return GetCommandArray();
}
byte* TrafficLightCommand::CMD_CheckRandomResult()
{
SetCommand(0x02, RandomDisc());
return GetCommandArray();
}
bool TrafficLightCommand::IsTrafficLightCommand(byte* cmd)
{
if ((cmd[1] == CommandData::Devices::TrafficLight_A) || (cmd[1] == CommandData::Devices::TrafficLight_B))

3
TrafficLightCommand.h
Unescape Escape View File

@ -20,6 +20,8 @@ public:
Green = 0x02,
Yellow = 0x03
};
private:
uint8_t RandomDisc();
public:
TrafficLightCommand();
public:
@ -28,6 +30,7 @@ public:
public:
byte* CMD_EnterIdentifyMode();
byte* CMD_CheckResult(Color color);
byte* CMD_CheckRandomResult();
public:
bool IsTrafficLightCommand(byte* cmd);
bool ModeChangeSuccess(byte* cmd);

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