赛道记忆控制策略及开发的赛车运动状态实时监测系统

摘要本文详细介绍了我们为第二届全国智能车大赛而准备的智能车系统方案。该系统以FREESCALE16位单片机MC9S12DG128作为系统控制处理器，采用激光传感器对赛道信息进行采集，并通过赛道记忆方法对赛道信息进行记录，反馈回给电机和舵机，在第二圈中达到校正。通过欧姆龙光电编码器获取小车速度，进行速度反馈处理，最后利用PID控制方式作为了最终的选择。文中还将介绍赛车传感器布置及安装方法，自制电路主板、赛道记忆算法及开发出的调试系统，还将介绍机械结构和调整方法，及舵机安装方式。关键词激光传感器、控制策略、速度传感器、赛道记忆ABSTRACTTHISPAPERINTRODUCESUSTOTHESECONDSESSIONOFTHENATIONALSMARTCARRACINGPREPAREDSMARTCARSYSTEMPLANTHESYSTEMFREESCALE16MC9S12DG128BITEXTREMEBUTASASYSTEMCONTROLPROCESSOR,USINGMODULATIONLASERSENSORSTOTRACKINFORMATIONACQUISITION,THROUGHTHEMEMORYCIRCUITANDMETHODFORINFORMATIONONTHETRACKRECORD,FEEDBACKBACKTOTHEMOTORANDSTEERING,THESECONDLAPACHIEVECORRECTIONOMRONTHROUGHPHOTOELECTRICENCODERSPEEDACCESSTROLLEY,SPEEDFEEDBACKPROCESSINGFINALLYPIDCONTROLASAMEANSTOTHEULTIMATECHOICETHEARTICLEWILLINTRODUCETHECARSENSORLAYOUTANDINSTALLATIONMETHODS,SELFMADECIRCUITBOARD,THECIRCUITMEMORYALGORITHMANDTHEDEVELOPMENTOFTHESYSTEMDEBUGGING,ALSOINTRODUCEDMECHANICALSTRUCTUREANDADJUSTMENTMETHODS,ANDINSTALLATIONRUDDERKEYWORDLASERSENSOR,CONTROLSTRATEGY,SPEEDSENSORCIRCUITMEMORY目录第一章引言111比赛背景介绍112方案介绍113本文结构1第二章赛车系统整体设计221系统硬件结构设计2第三章光电传感器331传感器选型332传感器排布3第四章主控板硬件电路设计541电源模块542电机驱动模块643硬件抗干扰措施744印制电路板可靠性和抗干扰设计845主控板的安装8第五章电机驱动模块951硬件电路设计952驱动电机性能测试953程序代码10第六章舵机驱动模块1461硬件电路设计1462程序代码14第七章速度传感器1671传感器设计及安装1672硬件电路设计1673软件设计1774速度传感器准确性测试1875安装方式18第八章赛道记忆1981智能车运动状态实时监测系统总述19811系统整体硬件架构19812系统整体软件架构2082起跑信号发送装置21821起跑信号发送装置工作原理2183车载数据采集系统设计及实现2284机数据接收处理系统设计及实现2285手持数据接收及监测系统设计及实现2386动态数据接收及显示模式24第九章赛车机械结构调整2591舵机安装调整2592前轮倾角的调整25第十章总结26101比赛准备阶段26102激光传感器设计26103赛道记忆控制策略及开发的赛车运动状态实时监测系统26104设计中存在的问题26105未来寄语27第一章引言11比赛背景介绍受教育部高等教育司委托，高等学校自动化专业教学指导分委员负责主办全国大学生智能车竞赛。该项比赛已列入教育部主办的全国五大竞赛之一。2007年8月日，在上海交通大学举行第二届全国大学生智能车竞赛。本届的比赛，首先是在全国五大赛区进行预选赛，之后将有只赛车到上海进行总决赛。在比赛中，“参赛选手须使用大赛组委会统一提供的竞赛车模，采用飞思卡尔16控制器MC9S12DG128作为核心控制单元，自主构思控传感器信号采集处理、控制算法及执行、动力电机驱动、转向舵机控制等，完成智能车工程制作及调试，于指定日期与地点参加场地比赛。参赛队伍之名次（成绩）由赛车现场成功完成赛道比赛时间为主，技术方案及制作工程质量评分为辅来决定”，“须采用统一提供的车模，须采用限定的飞思卡尔16位微控制器MC9S12DG128作为唯一控制处理器，车模改装完毕后，尺寸不能超过250MM宽和400MM长，高度无限制”，“跑道宽度不小于600MM，跑道表面为白色，中心有连续黑线作为引导线，黑线宽25MM”，并且跑道有坡道。12方案介绍由评分规则可知，本次比赛的关键在于提高小车的速度和稳定性。其实际问题是如何更早且更好的提取到赛道信息。我们采取的策略是激光传感器加赛道记忆，共同实现我们的目标。这样不仅可以提高赛车的前瞻性，使赛车的稳定性提高。而且通过赛道信息的记录，可以在第二圈中，对赛车状态进行校正，提高成绩。13本文结构本文共十章。其中第一章为引言部分。简单介绍比赛背景及赛车的基本方案。第二章主要介绍赛车整体系统结构，对赛车整体流程及控制进行介绍和说明。第三章介绍赛车传感器，包括选型、排布及安装方式。第四章将对自行研制的主控板进行介绍及说明，包括电路设计及主控板的安装。第五章介绍电机驱动模块，包括硬件电路的设计及电机性能的测试。第六章将对舵机驱动模块进行说明。第七章为速度传感器，包括电路设计、安装方式及准确性。第八章为赛道记忆控制策略及开发的赛车运动状态实时监测系统。第九章介绍赛车机械结构调整。第十章将对全文作出概括总结。第二章赛车系统整体设计21系统硬件结构设计根据激光传感器方案设计，赛车共包括大模块激光传感器模块控制处理芯片MC9S12DG128，舵机驱动模块，电机驱动模块、速度传感器MC9S12DG128转向舵机电机传感器信号速度传感器第一圈记录数值第三章光电传感器31传感器选型由于赛道具体信息还不知道，所以必须选择合适的路面信息检测传感器。通过查阅相关资料，了解到目前常用的寻线技术有光电寻线、磁诱导寻线和摄像头寻线。光电寻线一般由多对红外收发管组成，通过检测接收到的反射光强，判断黑白线。在这种方案中，一对收发管只能检测一个点的信息，精度有限。但其优点是电路简单，处理方便。路面磁诱导与智能车辆的车载机器视觉诱导相比，最大优点是完全不受光照变化的影响。但这种方式必须以车道中心线上布设的离散磁道钉作为车道参考标记，这违背了比赛规则。摄像头寻线通过图像采集，动态拾取路径信息，并对各种情况进行分析。它具有信息量大，能耗低的优点，但对数据的处理相对复杂。作为第一次参加此次大赛，并通过对第一届比赛的研究，我们决定还是从光电管入手。要提高速度并保证在入弯时不撞到标竿，就必须增加传感器的“视野”，以便及时减速。通过比较，发现市场上的激光管有比较好的性能，它可以照射很远的距离依然有很高的强度，根据激光特性，除了激光的入射光和反射光是最强的以外，其他的所有散射光的强度都是相同的，在此情况下，实际测量发现激光可以看到20CM以上的距离，对于赛车的前瞻性大有好处，可以适当把光照调远，实现前瞻性循线控制。32传感器排布为了完成赛道记忆算法，我们采用了前十后五的传感器排布方式。这样前十路传感器采集的数据负责对赛车进行转角的控制。而后五路传感器采集的数据则传递给单片机后通过分析并记录下来，为第二圈舵机、电机控制提供反馈信息。数字型光电传感器只有0与1两种状态，因此各个传感器的布局间隔将影响车对路径的识别精度以及对舵机的控制算法的优劣。赛道规定的是黑线宽度25MM，赛车可以沿着黑线自主循线。当任何时刻只有一路传感器在黑线上的情况（每两个传感器之间的间距是25MM）图31传感器间距为25MM的情况由图31可知，传感器由一种状态转化为另一种状态所移动的距离，即有效距离为25MM。当有时有一路传感器在黑线上，有时有两路传感器在黑线上的情况下（125MMVI_REFPPVI_FEEDBACKD_ERRORERRORPPVI_PREERRORDD_ERRORD_ERRORPPVI_PREDERRORPPVI_PREERRORERRORPPVI_PREDERRORD_ERRORIFERRORVV_DEADLINEELSEPPVL_PREUSIGNEDLONGPPV_KPD_ERRORPPV_KIERRORPPV_KDDD_ERRORIFPPVL_PREUVV_MAXPPVL_PREUVV_MAXELSEIFPPVL_PREUVL_PREU0IFERROR20PPVL_PREUVV_MAXRETURNPPVL_PREUVOIDPIDINITSPIDVI_REF0SPIDVI_FEEDBACK0SPIDVI_PREERROR0SPIDVI_PREDERROR0SPIDV_KPVV_KPVALUESPIDV_KIVV_KIVALUESPIDV_KDVV_KDVALUESPIDVL_PREU0MAINCINCLUDE/COMMONDEFINESANDMACROS/INCLUDE/DERIVATIVEINFORMATION/PRAGMALINK_INFODERIVATIVE“MC9S12DG128B“INCLUDE“7279H“INCLUDE“RUDDER_CONTROLH“INCLUDE“MOTOR_CONTROLH“INCLUDE“TRIPMEMORYH“INCLUDE“DATATRANSFERH“UINTSEN_DATAUINTMODULATESENSOR_DATAUINTMODULATESENSOR_DATA_PREUCHAROUTFLAGUCHARMSENSORDATARECORD20UCHARSTRAIGHTFLAGUCHARFLASHLONGSTARTPOSUCHARSEN_DATA5UCHARMODULATESENSOR_DATA5UCHARMODULATESENSOR_DATA5_PREUCHAROUTFLAG5UCHARSTARTSENDATAUCHARJUDGEMENTCOLLECTVOIDS12CLK_INITPLLCTL0XFFSYNR0X02REFDV0X01WHILECRGFLG_LOCK0CLKSEL_PLLSEL1VOIDECT1_INITTSCR2_PR0/PRESCALEFACTORIS1,BUSCLOCK/224MHZTSCR2_TOI0/TIMEROVERFLOWINTERRUPTDISABLETSCR1_TEN1/TIMERENABLETIOS_IOS11/SETIOS1TOOUTPUTCOMPARETC11000/OUTPUTCOMPAREVALUEIS2400TIE_C1I1/OUTPUTCOMPAREINTERRUPT1ENABLEVOIDDEVICE_INITUCHARINIT_DATABASSDDRA0XFCDDRB0X00DDRT0X62DDRS0X03DDRM0X3CATD0DIEN0XFFPTT_PTT60S12CLK_INITECT1_INITINIT_7279PWM67_INITMOTOR_INITOUTFLAG1STARTIDENTIFICATION0CROSSIDENTIFICATION0DISCONTROL20000CHECKSTATEFLAG0FINALJUDGE0FIRSTJ0JUDGEMENTCOLLECT0QD_DIS20000TEST9TEST20TEST30TEST40FORINIT_DATABASS1INIT_DATABASS14STRAIGHTFLAG2UINTSENSOR_EXCHANGEUINTMSEN_DATAMSEN_DATA0SENSORSTATE1SWITCHSEN_DATACASE1MSEN_DATA2IFOUTFLAG2OUTFLAG1BREAKCASE3MSEN_DATA3IFOUTFLAG2OUTFLAG1BREAKCASE2MSEN_DATA4BREAKCASE6MSEN_DATA5BREAKCASE4MSEN_DATA6BREAKCASE12MSEN_DATA7BREAKCASE8MSEN_DATA8BREAKCASE24MSEN_DATA9BREAKCASE16MSEN_DATA10BREAKCASE48MSEN_DATA11BREAKCASE32MSEN_DATA12BREAKCASE96MSEN_DATA13BREAKCASE64MSEN_DATA14BREAKCASE192MSEN_DATA15BREAKCASE128MSEN_DATA16BREAKCASE384MSEN_DATA17BREAKCASE256MSEN_DATA18BREAKCASE768MSEN_DATA19IFOUTFLAG3OUTFLAG1BREAKCASE512MSEN_DATA20IFOUTFLAG3OUTFLAG1BREAKCASE896MSEN_DATA22BREAKCASE7MSEN_DATA23BREAKCASE448MSEN_DATA24BREAKCASE14MSEN_DATA25BREAKCASE224MSEN_DATA26BREAKCASE112MSEN_DATA27BREAKCASE56MSEN_DATA28BREAKCASE28MSEN_DATA29BREAK/CASE7MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/CASE14MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/CASE28MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/CASE56MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/CASE112MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/CASE224MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/CASE448MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/CASE896MODULATESENSOR_DATAMODULATESENSOR_DATA_PREBREAK/DEFAULTMSEN_DATAMODULATESENSOR_DATA_PRESENSORSTATE0/传感器状态表明当前状态不稳定BREAKRETURNMSEN_DATAUCHARSENSORBACK_EXCHANGEUCHARMBSEN_DATAMBSEN_DATA0SWITCHSEN_DATA5/LEFT/CASE16MBSEN_DATA2OUTFLAG51BREAKCASE24MBSEN_DATA3BREAKCASE8MBSEN_DATA4BREAKCASE12MBSEN_DATA5BREAKCASE4MBSEN_DATA6OUTFLAG52BREAKCASE6MBSEN_DATA7BREAKCASE2MBSEN_DATA8BREAKCASE3MBSEN_DATA9BREAKCASE1MBSEN_DATA10OUTFLAG53BREAK/DEFAULTMBSEN_DATAMODULATESENSOR_DATA5_PREBREAKRETURNMBSEN_DATAPRAGMACODE_SEGNON_BANKEDPRAGMATRAP_PROCVOIDECT1VOIDTFLG1_C1F1/CLEARFLAGSWITCHTC1CASE1000TC17000SEN_DATA0SEN_DATA50PORTA_BIT61PORTA_BIT70PTT_PTT10PORTA_BIT21PORTA_BIT30PORTA_BIT40BREAKCASE7000TC131000SEN_DATASEN_DATAUINTPORTABSEN_DATA5SEN_DATA5UCHARPORTAD0PORTA_BIT60PORTA_BIT70PTT_PTT10PORTA_BIT20PORTA_BIT30PORTA_BIT40MOTOR_CONTROLMODULATESENSOR_DATA,JUDGEMENTCOLLECT,BREAKCASE31000TC134000PORTA_BIT60PORTA_BIT71PTT_PTT10PORTA_BIT20PORTA_BIT31PORTA_BIT40BREAKCASE34000TC135000SEN_DATASEN_DATAUINTPORTABSEN_DATA5SEN_DATA5UCHARPORTAD0PORTA_BIT60PORTA_BIT70PTT_PTT10PORTA_BIT20PORTA_BIT30PORTA_BIT40BREAKCASE35000TC138000PORTA_BIT61PORTA_BIT71PTT_PTT10PORTA_BIT21PORTA_BIT31PORTA_BIT40BREAKCASE38000TC139000SEN_DATASEN_DATAUINTPORTABSEN_DATA5SEN_DATA5UCHARPORTAD0PORTA_BIT60PORTA_BIT70PTT_PTT10PORTA_BIT20PORTA_BIT30PORTA_BIT40BREAKCASE39000TC142000PORTA_BIT60PORTA_BIT70PTT_PTT11PORTA_BIT20PORTA_BIT30PORTA_BIT41BREAKCASE42000TC144000SEN_DATASEN_DATAUINTPORTABSEN_DATA5SEN_DATA5UCHARPORTAD0PORTA_BIT60PORTA_BIT70PTT_PTT10PORTA_BIT20PORTA_BIT30PORTA_BIT40BREAKCASE44000TC146000PORTA_BIT61PORTA_BIT70PTT_PTT11PORTA_BIT21PORTA_BIT30PORTA_BIT41BREAKCASE46000TC150000SEN_DATASEN_DATAUINTPORTABSEN_DATA5SEN_DATA5UCHARPORTAD0SEN_DATA5SEN_DATA53/TESTSEN_DATASTARTSENDATASEN_DATA5PORTA_BIT60PORTA_BIT70PTT_PTT10PORTA_BIT20PORTA_BIT30PORTA_BIT40IFFINALJUDGE1JUDGEMENTCOLLECTIFJUDGEMENTCOLLECT3OUTFLAG3IFMODULATESENSOR_DATA1ELSEPTT_PTT60FLASHFLASH2/SENDATATRANSFORMODULATESENSOR_DATA55IFFINALJUDGE2TEST40CROSSCOLLECTCROSSSIGNSIGNSNMILEAGESIGNSNFINALJUDGE0ELSEIFJUDGEMENTCOLLECT2/TESTMILEAGESECLAPREGULATEMODULATESENSOR_DATA5,STRSPEEDUPMODULATESENSOR_DATA5,PTT_PTT61/MONITORSTRAIGHTJUDGERUDDER_CONTROL1,SENSORSTATE,MODULATESENSOR_DATA,MODULATESENSOR_DATA5,STRFLAGBREAKDEFAULTTC11000BREAKPRAGMACODE_SEGDEFAULTVOIDMAINVOID/PUTYOUROWNCODEHERE/UCHARXENABLEINTERRUPTSDEVICE_INITFORDIS_DATA3,7,SPEEDUPLENGTH/STRFLAG/DIS_DATA4,5,TEST6/DIS_DATA6,7,MODULATESENSOR_DATA5/DIS_DATA4,5,MODULATESENSOR_DATA/DIS_DATA3,3,SENSORSTATE/IFJUDGEMENTCOLLECT2UINTCHUINTIDISABLEINTERRUPTSPWMDTY450I0CHGET_DATA5,7DIS_DATA2,7,0FORI0I550DIS_DATA2,7,AMENDPOINTSAVE1CH555LOCATIONELSEIFCH560DIS_DATA2,7,AMENDPOINTSAVE1CH560LOCATIONELSEIFCH570DIS_DATA2,7,AMENDPOINTSAVE1CH565LOCATIONELSEIFCH650DIS_DATA2,7,MILEAGETESTCH655ELSEIFCH660DIS_DATA2,7,MILEAGETESTCH660ELSEIFCH750DIS_DATA2,7,MILEAGESEECH755ELSEIFCH760DIS_DATA2,7,MILEAGESEECH760ELSEIFCH770DIS_DATA2,7,MILEAGESEECH765ELSEIFCH850DIS_DATA2,7,CROSSSIGNCH855ELSEIFCH950DIS_DATA2,7,CROSSTESTCH955ELSEDIS_DATA2,7,17279HDEFINEFREQUENCY24DEFINECSPTT_PTT5DEFINECLKPTT_PTT4DEFINEDATPTT_PTT3DEFINEKEYPTT_PTT2DEFINEDDRCSDDRT_DDRT5DEFINEDDRCLKDDRT_DDRT4DEFINEDDRDATDDRT_DDRT3DEFINEDDRKEYDDRT_DDRT2DEFINECMD_RESET0XA4DEFINECMD_TEST0XBFDEFINEDECODE00X80DEFINEDECODE10XC8DEFINECMD_READ0X15DEFINEUNDECODE0X90DEFINERTL_CYCLE0XA3DEFINERTR_CYCLE0XA2DEFINERTL_UNCYL0XA1DEFINERTR_UNCYL0XA0DEFINEACTCTL0X98DEFINESEGON0XE0DEFINESEGOFF0XC0EXTERNVOIDINIT_7279VOIDEXTERNVOIDWRITE7279UNSIGNEDCHARCMD,UNSIGNEDCHARDTA/写入到HD7279EXTERNUNSIGNEDCHARREAD7279VOID/VOIDSWITCH_NUMBERVOID/长时延函数EXTERNVOIDLONG_DELAYVOIDEXTERNVOIDSHORT_DELAYVOIDEXTERNVOIDDELAY10MSUNSIGNEDINTEXTERNVOIDSEND_BYTEUNSIGNEDCHAREXTERNUNSIGNEDCHARRECEIVE_BYTEVOIDEXTERNUNSIGNEDCHARGET_KEY7279VOIDEXTERNVOIDINIT_7279VOIDUNSIGNEDINTTMRUNSIGNEDCHARTDDRCS1DDRCLK1DDRDAT1DDRKEY0FORT0T1WRITE7279ACTCTL,KDELAY10MS100WRITE7279ACTCTL,0XFFDELAY10MS100SEND_BYTECMD_RESETFORJ0JDIG_STARTJTEMP_CHARGET_KEY7279TEMP_LONG10TEMP_LONGTEMP_CHARWRITE7279DECODE0J,0X00TEMP_CHAR/PC_DIS_DATA1,TEMP_CHARRETURNTEMP_LONGEXTERNVOIDDIS_DATAUNSIGNEDCHARDIG_START,UNSIGNEDCHARDIG_END,UNSIGNEDLONGNUMUNSIGNEDCHARI,TEMP_CHARFORIDIG_STARTI114/左弯/ELSEIFMS510000IFTRAILTYPE_T2QD_DISTANCE0IFQD_DISTANCESTANDARDLENGTHQD_DISTANCE20000TRAILINFOREC1BENDCORNERFLAG1BREAKCASE2QD_DISTANCE20000BENDCORNERFLAG1BREAKCASE3TRAILINFOREC3QD_DISTANCE20000BENDCORNERFLAG1BREAKDEFAULTBREAKBREAKCASE3IFTRAILTYPE_T1TRAILMILEAGE_TEMPTRAILMILEAGEIFQD_DISTANCE10000IFTRAILTYPE_T3QD_DISTANCE0IFQD_DISTANCESTANDARDLENGTHQD_DISTANCE20000TRAILINFOREC1BENDCORNERFLAG1BREAKCASE2TRAILINFOREC2QD_DISTANCE20000BENDCORNERFLAG1BREAKCASE3QD_DISTANCE20000BENDCORNERFLAG1BREAKDEFAULTBREAKBREAKDEFAULTBREAK/VOIDMONITORIFMILEAGETRAILINFOSAVESERNUMBERLOCATIONSERNUMBERELSEIFTRAILINFOSAVESERNUMBER1TRAILTYPE1PTM30IFTRAILINFOSAVESERNUMBER1TRAILTYPE2PTM55IFTRAILINFOSAVESERNUMBER1TRAILTYPE3PTM0PTSCROSSCOLLECTVOIDAMENDPOINTUCHARI,J,J2,J3J0J20J30FORI0I1AMENDPOINTSAVE1JLOCATIONTRAILINFOSAVEI1LOCATIONAMENDPOINTSAVE1JTRAILTYPETRAILINFOSAVEI1TRAILTYPEJTEST2J/ELSEIFTRAILINFOSAVEITRAILTYPE2J2ELSEIFTRAILINFOSAVEITRAILTYPE3J3/VOIDSTRINFOPICKUCHART1,T2T20FORT10T1500UCHARMMTEST6STRDIS20000FORMM0MMSTRINFOMMLOCATION4000STRFLAG3MM20VOIDSECLAPREGULATEUCHARMSDATA5,LONGREALMILEAGE,UINTERRORUCHARAMENDDATAAMOUNTSERNUMBER99MAINREMEMBERMSDATA5,IFTRAILINFOSAVE98TRAILTYPE1IFTRAILINFOSAVE99TRAILTYPE1MILEAGESEETEST3REALMILEAGETEST3FORAMENDDATAAMOUNT0AMENDDATAAMOUNTAMENDPOINTSAVE1AMENDDATAAMOUNTLOCATIONAMENDLENGTH/TESTREALMILEAGE/AMENDDATAAMOUNT/MILEAGETESTTEST4REALMILEAGEMILEAGETESTTEST4REALMILEAGETEST4/REALMILEAGEAMENDPOINTSAVE1AMENDDATAAMOUNTLOCATIONAMENDDATAAMOUNT20/ELSEIFTRAILINFOSAVE48TRAILTYPE2IFTRAILINFOSAVE49TRAILTYPE3FORAMENDDATAAMOUNT0AMENDDATAAMOUNTLTORPOINTSAVEAMENDDATAAMOUNTAMENDLENGTHREALMILEAGELTORPOINTSAVEAMENDDATAAMOUNTAMENDDATAAMOUNT40ELSEIFTRAILINFOSAVE48TRAILTYPE3IFTRAILINFOSAVE49TRAILTYPE2FORAMENDDATAAMOUNT0AMENDDATAAMOUNTRTOLPOINTSAVEAMENDDATAAMOUNTAMENDLENGTHREALMILEAGERTOLPOINTSAVEAMENDDATAAMOUNTAMENDDATAAMOUNT40/RUDDERCONTROLHDEFINEMIDDLE10580DEFINEMID_REVISE0DEFINERIGHT_EDGE9230DEFINELEFT_EDGE11930DEFINEANGLER1130DEFINEANGLER2200DEFINEANGLER3250DEFINEANGLER4360DEFINEANGLER5450DEFINEANGLER6600DEFINEANGLER7829DEFINEANGLER8946DEFINEANGLER9105DEFINEANGLER10135DEFINEANGLEL1130DEFINEANGLEL2200DEFINEANGLEL3250DEFINEANGLEL4360DEFINEANGLEL5450DEFINEANGLEL6600DEFINEANGLEL7829DEFINEANGLEL8946DEFINEANGLEL91050DEFINEANGLEL101350DEFINESANGLER130/50/50/50/50/80/80/80/130/130DEFINESANGLER260/110/110/70/130/120/200/170DEFINESANGLER390/170/170/90/190/170/250/230DEFINESANGLER4120/220/240/110/260/250/360/310DEFINESANGLER5150/350/400/130/360/340/450/450DEFINESANGLER6180/480/550/150/480/450/604/650DEFINESANGLER7210/620/650/170/580/829/900DEFINESANGLER8240DEFINESANGLER9270DEFINESANGLER10300DEFINESANGLEL130DEFINESANGLEL260DEFINESANGLEL390DEFINESANGLEL4120DEFINESANGLEL5150DEFINESANGLEL6180DEFINESANGLEL7210DEFINESANGLEL8240DEFINESANGLEL9270DEFINESANGLEL10300UINTRUDDER_ADJUST_PREVOIDPWM67_INITVOIDPWME_PWME70PWMCTL_CON671PWMPRCLK0PWMSCLB2PWMCLK_PCLK71PWMPOL_PPOL71PWMCNT670PWMDTY67MIDDLE/10100PWMPER6756000PWME_PWME71VOIDRUDDER_CONTROLUCHARRUDDER_KP,UCHARSTATE,UINTMODULATESENDATA,UINTMODULATESENDATA5,UINTSTRCHOOSEUINTRUDDER_ADJUSTIFSTATE1MID_REVISEBREAKCASE2RUDDER_ADJUSTMIDDLEANGLER9RUDDER_KPMID_REVISEBREAKCASE3RUDDER_ADJUSTMIDDLEANGLER8RUDDER_KPMID_REVISEBREAKCASE4RUDDER_ADJUSTMIDDLEANGLER7RUDDER_KPMID_REVISEBREAKCASE5RUDDER_ADJUSTMIDDLEANGLER6RUDDER_KPMID_REVISEBREAKCASE6RUDDER_ADJUSTMIDDLEANGLER5RUDDER_KPMID_REVISEBREAKCASE7RUDDER_ADJUSTMIDDLEANGLER4RUDDER_KPMID_REVISEBREAKCASE8RUDDER_ADJUSTMIDDLEANGLER3RUDDER_KPMID_REVISEBREAKCASE9RUDDER_ADJUSTMIDDLEANGLER2RUDDER_KPMID_REVISEBREAKCASE10RUDDER_ADJUSTMIDDLEANGLER1RUDDER_KPMID_REVISEBREAK/MID/CASE11RUDDER_ADJUSTMIDDLEMID_REVISEBREAK/LEFT/CASE12RUDDER_ADJUSTMIDDLEANGLEL1RUDDER_KPMID_REVISEBREAKCASE13RUDDER_ADJUSTMIDDLEANGLEL2RUDDER_KPMID_REVISEBREAKCASE14RUDDER_ADJUSTMIDDLEANGLEL3RUDDER_KPMID_REVISEBREAKCASE15RUDDER_ADJUSTMIDDLEANGLEL4RUDDER_KPMID_REVISEBREAKCASE16RUDDER_ADJUSTMIDDLEANGLEL5RUDDER_KPMID_REVISEBREAKCASE17RUDDER_ADJUSTMIDDLEANGLEL6RUDDER_KPMID_REVISEBREAKCASE18RUDDER_ADJUSTMIDDLEANGLEL7RUDDER_KPMID_REVISEBREAKCASE19RUDDER_ADJUSTMIDDLEANGLEL8RUDDER_KPMID_REVISEBREAKCASE20RUDDER_ADJUSTMIDDLEANGLEL9RUDDER_KPMID_REVISEBREAKCASE21RUDDER_ADJUSTMIDDLEANGLEL10RUDDER_KPMID_REVISEBREAK/转角添加/CASE22RUDDER_ADJUSTMIDDLEANGLEL7RUDDER_KPMID_REVISEBREAKCASE23RUDDER_ADJUSTMIDDLEANGLER7RUDDER_KPMID_REVISEBREAKCASE24RUDDER_ADJUSTMIDDLEANGLEL5RUDDER_KPMID_REVISEBREAKCASE25RUDDER_ADJUSTMIDDLEANGLER5RUDDER_KPMID_REVISEBREAKCASE26RUDDER_ADJUSTMIDDLEANGLEL3RUDDER_KPMID_REVISEBREAKCASE27RUDDER_ADJUSTMIDDLEANGLEL1RUDDER_KPMID_REVISEBREAKCASE28RUDDER_ADJUSTMIDDLEANGLER1RUDDER_KPMID_REVISEBREAKCASE29RUDDER_ADJUSTMIDDLEANGLER3RUDDER_KPMID_REVISEBREAK/DEFAULTRUDDER_ADJUSTRUDDER_ADJUST_PREBREAKELSEIFSTATE1MID_REVISEBREAKCASE2RUDDER_ADJUSTMIDDLEANGLER9RUDDER_KPMID_REVISEBREAKCASE3RUDDER_ADJUSTMIDDLEANGLER8RUDDER_KPMID_REVISEBREAKCASE4RUDDER_ADJUSTMIDDLESANGLER7RUDDER_KPMID_REVISEBREAKCASE5RUDDER_ADJUSTMIDDLESANGLER6RUDDER_KPMID_REVISEBREAKCASE6RUDDER_ADJUSTMIDDLESANGLER5RUDDER_KPMID_REVISEBREAKCASE7RUDDER_ADJUSTMIDDLESANGLER4RUDDER_KPMID_REVISEBREAKCASE8RUDDER_ADJUSTMIDDLESANGLER3RUDDER_KPMID_REVISEBREAKCASE9RUDDER_ADJUSTMIDDLESANGLER2RUDDER_KPMID_REVISEBREAKCASE10RUDDER_ADJUSTMIDDLESANGLER1RUDDER_KPMID_REVISEBREAK/MID/CASE11RUDDER_ADJUSTMIDDLEMID_REVISEBREAK/LEFT/CASE12RUDDER_ADJUSTMIDDLESANGLEL1RUDDER_KPMID_REVISEBREAKCASE13RUDDER_ADJUST