嵌入式实验智能小车避障+上位机手柄控制.docx

嵌入式实验报告小车避障+上位机李晨，颜文杰2012/6/7一、 小车的功能及部件小车能够实现的主要功能有自动避障和上位机两个方面。避障主要是依靠传感器检测小车与前方的距离，然后根据算法的程序，自动选择最近的方式避障。上位机则是依靠电脑与小车通过无线串口相连，利用游戏手柄控制上位机的指令对小车进行前进、后退、左转、右转、加速等控制，从而实现用手柄对小车的无线遥控。传感器的分布直接的影响到了小车的自动避障功能，因此，为达到最优的效果，将传感器如下图的分布：前面两个用来判断小车与障碍物所成的角度，左右两边用来使小车与边界有一定的距离。为实现上位机的无线遥控功能，将小车加上无线模块与游戏手柄。二、 小车功能的实现小车的功能已经在上部分说明了，但是为实现两者功能的转化，我们采用了使用上位机发送指令从而改变小车工作模式的方法。下图为上位机工作界面：由上图可知，小车与电脑通过无线模块相连时，通过点选按钮“控制”和“自动避障”，可以使小车实现两种功能的切换。具体实现如下：通过串口中断，在计算机发送指令时改变flag_mode_choice的值，改变主程序中运行的不同模块，从而改变功能。while (1) while (flag_mode_choice=0) ADC_Ch0_Res = ADC_RegularConvertedValueTab0 - ADC_Calibration_DR; ADC_Ch1_Res = ADC_RegularConvertedValueTab1 - ADC_Calibration_DR; ADC_Ch2_Res = ADC_RegularConvertedValueTab2 - ADC_Calibration_DR; ADC_Ch3_Res = ADC_RegularConvertedValueTab3 - ADC_Calibration_DR; if (RxBuffer1=0xCC) now_speed=100; Forward_Cmd(); if(ADC_Ch3_Res0x520)Turn_Right(); else if(ADC_Ch0_Res0x520)Turn_Left(); if(ADC_Ch2_Res0x520|ADC_Ch1_Res0x520) if(ADC_Ch2_ResADC_Ch1_Res) Turn_Left(); if(ADC_Ch2_Res0xAA&ADC_Ch1_Res0xAA) Backward_Cmd(); Delay(0XAFFFF); while (flag_mode_choice=1) if(RxBuffer1=0x11) Forward_Cmd(); else if (RxBuffer1=0xCC) now_speed=100;Forward_Cmd(); else if (RxBuffer1=0x22) Backward_Cmd(); else if (RxBuffer1=0x1A) Forward_Accelerate_Cmd(); else if (RxBuffer1=0x1B) Forwar_non_Accelerate_Cmd(); else if (RxBuffer1=0x33) Turn_Right(); else if (RxBuffer1=0x44) Turn_Left(); else Break_Cmd(); 利用以下的串口中断实现功能转换：extern u8 RxBuffer6;extern int flag_mode_choice;void USART1_IRQHandler(void) if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) USART_ITConfig(USART1,USART_IT_RXNE,DISABLE); /* Read one byte from the receive data register */ while(!USART_GetFlagStatus(USART1,USART_FLAG_RXNE) ; RxBuffer0 = USART_ReceiveData(USART1); while(!USART_GetFlagStatus(USART1,USART_FLAG_RXNE) ; RxBuffer1 = USART_ReceiveData(USART1); if (RxBuffer0 = 0xEA) flag_mode_choice=0; if( RxBuffer0 = 0xEB) flag_mode_choice=1; /* Clear the USART1 Receive interrupt */ USART_ClearITPendingBit(USART1, USART_IT_RXNE); USART_ITConfig(USART1,USART_IT_RXNE,ENABLE); 1. 避障功能的实现为实现小车的避障功能，使小车前面两个传感器的值相比较，若其中一个大于另一个，则向偏大的方向转弯，反之亦然。程序实现如下：ADC_Ch0_Res = ADC_RegularConvertedValueTab0 - ADC_Calibration_DR; ADC_Ch1_Res = ADC_RegularConvertedValueTab1 - ADC_Calibration_DR; ADC_Ch2_Res = ADC_RegularConvertedValueTab2 - ADC_Calibration_DR; ADC_Ch3_Res = ADC_RegularConvertedValueTab3 - ADC_Calibration_DR; if (RxBuffer1=0xCC) now_speed=100; Forward_Cmd(); if(ADC_Ch3_Res0x520)Turn_Right(); else if(ADC_Ch0_Res0x520)Turn_Left(); if(ADC_Ch2_Res0x520|ADC_Ch1_Res0x520) if(ADC_Ch2_ResADC_Ch1_Res) Turn_Left(); if(ADC_Ch2_Res0xAA&ADC_Ch1_Res0xAA) Backward_Cmd();2. 上位机功能实现上位机的界面是由Visual C+ 6.0中的MFC编写的。其中有打开串口，发送显示，接受显示等功能，也可实现小车的功能切换，可以直接支持游戏手柄的控制。使用无线的控制时，波特率为9600，按钮的代码段如下所示：/避障模式void CSerialPortTestDlg:OnButtonSend() Buf0=0xEA;Buf1=0xAA;/Buf2=0xAA;/ TODO: Add your control notification handler code hereif(!m_bSerialPortOpened)return;/检查串口是否打开/UpdateData(TRUE);/读入编辑框中的数据m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);/发送数据void CSerialPortTestDlg:OnChangeEditSendmsg() / TODO: If this is a RICHEDIT control, the control will not/ send this notification unless you override the CDialog:OnInitDialog()/ function and call CRichEditCtrl().SetEventMask()/ with the ENM_CHANGE flag ORed into the mask./ TODO: Add your control notification handler code here/上位机控制模式void CSerialPortTestDlg:OnButtonSend2() Buf0=0xEB;Buf1=0xAA;/Buf2=0xAA;/Buf3=0xAA;/ TODO: Add your control notification handler code hereif(!m_bSerialPortOpened)return;/检查串口是否打开/UpdateData(TRUE);/读入编辑框中的数据m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);/前进/void CSerialPortTestDlg:OnButtonSend6() Buf0=0xEB;Buf1=0x11;/Buf2=0xAA;Buf3=0xAA;/ TODO: Add your control notification handler code hereif(!m_bSerialPortOpened)return;/检查串口是否打开/UpdateData(TRUE);/读入编辑框中的数据m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);/后退void CSerialPortTestDlg:OnButtonSend4() Buf0=0xEB;Buf1=0x22;/Buf2=0xAA;Buf3=0xAA;/ TODO: Add your control notification handler code hereif(!m_bSerialPortOpened)return;/检查串口是否打开/UpdateData(TRUE);/读入编辑框中的数据m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);/左转void CSerialPortTestDlg:OnButtonSend3() Buf0=0xEB;Buf1=0x33;/Buf2=0xAA;Buf3=0xAA;/ TODO: Add your control notification handler code hereif(!m_bSerialPortOpened)return;/检查串口是否打开/UpdateData(TRUE);/读入编辑框中的数据m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);/右转void CSerialPortTestDlg:OnButtonSend5() Buf0=0xEB;Buf1=0x44;/Buf2=0xAA;Buf3=0xAA;/ TODO: Add your control notification handler code hereif(!m_bSerialPortOpened)return;/检查串口是否打开/UpdateData(TRUE);/读入编辑框中的数据m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);/手柄控制LRESULT CSerialPortTestDlg:WindowProc(UINT message, WPARAM wParam, LPARAM lParam) / TODO: Add your specialized code here and/or call the base classjoyx = LOWORD(lParam)/2048;joyy = HIWORD(lParam)/2048;/WORD joyx,joyy;if (Buf0=0xEB)&(Buf1=0x44)&(joyx=12) Buf0=0xEB;Buf1=0x11;m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);/Sleep(TIMEDELAY);else if(Buf0=0xEB)&(Buf1=0x33)&(joyx=12) Buf0=0xEB;Buf1=0x11;m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg); else if(Buf0=0xEB)&(Buf1=0x22)&(joyy=12) Buf0=0xEB;Buf1=0x11;m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);if (message=MM_JOY1MOVE)joyx = LOWORD(lParam)/2048;joyy = HIWORD(lParam)/2048;/如果游戏杆在中心位置的左边,移动光标到左边。反之亦然if(joyx = 20)Sleep(5);/SetDlgItemText(IDC_STATIC1,右转);Buf0=0xEB;Buf1=0x33;/if(!m_bSerialPortOpened)return;/检查串口是否打开m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY);else if(joyy = 25) /SetDlgItemText(IDC_STATIC1,后退);Buf0=0xEB;Buf1=0x22;/if(!m_bSerialPortOpened)return;/检查串口是否打开m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY); if(wParam & JOY_BUTTON1)Sleep(5);/SetDlgItemText(IDC_STATIC1,1);/前进Buf0=0xEA;Buf1=0xAA;/if(!m_bSerialPortOpened)return;/检查串口是否打开m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY);else if (wParam & JOY_BUTTON2)Sleep(5);/SetDlgItemText(IDC_STATIC1,2);/后退else if(wParam & JOY_BUTTON3)Sleep(5);/SetDlgItemText(IDC_STATIC1,3);Buf0=0xEB;Buf1=0xAA;/ TODO: Add your control notification handler code here/if(!m_bSerialPortOpened)return;/检查串口是否打开/UpdateData(TRUE);/读入编辑框中的数据m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY); else if(wParam & JOY_BUTTON4)Sleep(5);/SetDlgItemText(IDC_STATIC1,4);else if (wParam&JOY_BUTTON1CHG) /SetDlgItemText(IDC_STATIC1,select);/标准避障模式Buf0=0xEA;Buf1=0xCC;/if(!m_bSerialPortOpened)return;/检查串口是否打开m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY);else if(wParam&JOY_BUTTON2CHG) /SetDlgItemText(IDC_STATIC1,start);/标准上位机控制模式Buf0=0xEB;Buf1=0xCC;/if(!m_bSerialPortOpened)return;/检查串口是否打开m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY);else if(wParam&JOY_BUTTON5) /SetDlgItemText(IDC_STATIC1,5);else if(wParam&JOY_BUTTON6) /SetDlgItemText(IDC_STATIC1,6);else if(wParam&JOY_BUTTON7)/select/SetDlgItemText(IDC_STATIC1,7); Buf0=0xEB;Buf1=0x1A;/if(!m_bSerialPortOpened)return;/检查串口是否打开m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY);else if(wParam&JOY_BUTTON8)/select/SetDlgItemText(IDC_STATIC1,8);Buf0=0xEB;Buf1=0x1B;/if(!m_bSerialPortOpened)return;/检查串口是否打开m_strEditSendMsg = (CString)Buf;m_SerialPort.WriteToPort(LPCTSTR)m_strEditSendMsg);Sleep(TIMEDELAY);return CDialog:WindowProc(message, wParam, lParam);BOOL CSerialPortTestDlg:OnInitDialog()CDialog:On