路径识别代码.doc

路径识别代码识别是用来设定速度的。简单的识别还是容易，贴个代码。其中gap值为极左极右差值，附 for(i=49;i=(M_Row_End+3);i-) / recored_end_row if(Black_Flagi.Mid_flag&Black_Flagi-3.Mid_flag) n = Runway_Midpointi-3 - Runway_Midpointi; if(n=2) S_right+; else if(n=-2) S_left+; else S_straight+; void Road_S_Dis(void) prespeed_value = speed_value;if(curValidline11) if(gap=24) /包括了直道和小S弯 straight_flag+; straight_flag%=3000; else if(gap3&S_left3) Big_S = 1; else bend_flag=1; else zhongsu+;zhongsu%=3000;/较远前瞻的弯，给定中速 zhongsu3_flag = 0; danwan_flag = 0; else if(M_Row_End=75|S_right = (50-M_Row_End)-6|S_left=50-M_Row_End - 6) danwan_flag+;danwan_flag%=3000; /单向弯道，给定中速2 else if(gap=45) if(S_right3&S_left3) jiman_flag=1;/较近前瞻的S弯，给定慢速 else zhongsu2_flag+;zhongsu2_flag%=3000; /较近前瞻的缓慢程度弯道，给定中速 danwan_flag = 0; else jiaokuaisu_flag=1;danwan_flag = 0; /较近前瞻的平缓曲线，给定较快速度 zhongsu3_flag = 0; else if(M_Row_End=80) danwan2_flag+;danwan2_flag%=3000;/近前瞻的单向弯道，给定中速 else if(gap=50|S_right 50-M_Row_End-5|S_left50-M_Row_End-5) /近前瞻的急偏道，给定中慢速 zhongsu3_flag+;zhongsu3_flag%=3000; else mansu_flag=1;zhongsu3_flag = 0 ; /弯入十字中慢速 danwan_flag = 0; else if(gap=20) mansu+;mansu%=3000; else kuaisu+;kuaisu%=3000; /直道入十字情况 zhongsu3_flag = 0; danwan_flag = 0; if(straight_flag=1) Hightest_speed = longtest_speed;else if (bend_flag=1) Hightest_speed = longtest_speed - 75 ; else if (Big_S=1) Hightest_speed = longtest_speed - 80 ; else if (zhongsu = 1) Hightest_speed = MidLongtest_speed + 10;else if (danwan_flag 0) if(danwan_flag = 1) Hightest_speed = MidLongtest_speed; else if(danwan_flag = 2) Hightest_speed = MidLongtest_speed + 50; else Hightest_speed = Hightest_speed+10longtest_speed+50?longtest_speed+50:Hightest_speed + 10;else if (jiman_flag = 1) Hightest_speed = Midtest_speed;else if (zhongsu2_flag = 1) Hightest_speed = MidLongtest_speed - 20;else if (jiaokuaisu_flag = 1) Hightest_speed = MidLongtest_speed + 20;else if (danwan2_flag = 1) Hightest_speed = MidLongtest_speed ;else if (zhongsu3_flag0) /进入十字弯减速，然后加速 if(zhongsu3_flag=1) Hightest_speed = MidLongtest_speed; else if(zhongsu3_flag=2)Hightest_speed = MidLongtest_speed+40; else Hightest_speed = Hightest_speed + 10 longtest_speed+50?longtest_speed+50:Hightest_speed + 10;else if (mansu_flag = 1) Hightest_speed = MidLongtest_speed - 30;else if (mansu = 1) Hightest_speed = Midtest_speed + 30;else if (kuaisu = 1) Hightest_speed = MidLongtest_speed; speed_percent = POW2(offset)/2500; if(speed_percent1) speed_percent=1; motercontrl = (Hightest_speed-lowtest_speed)*speed_percent; speed_value = Hightest_speed-motercontrl; if(L_R