控制算法设计说明

第十一届全国大学生智能汽车邀请赛技术报告第十三届全国大学生智能汽车邀请赛技术报告附录A：源代码#include"headfile.h"externintflag;intmain(void){get_clk();//获取时钟频率必须执行DisableInterrupts;//关闭总中断OLED_Init();//oled初始化uart_init(uart1,115200);//串口初始化pit_init_ms(pit0,1);//中断定时1msset_irq_priority(PIT_CH0_IRQn,1);//中断优先级1enable_irq(PIT_CH0_IRQn);//中断使能EnableInterrupts;//打开总中断DirectionInit();//adc口初始化MotorInit();//电机pwm口初始化ftm_count_init(ftm0);//对E0引脚输入的脉冲进行计数E0接编码器LSBftm_count_init(ftm1);//对E7引脚输入的脉冲进行计数E7接编码器LSBgpio_init(H6,GPI,0);//用于判断方向C5接编码器DIRgpio_init(H7,GPI,0);//用于判断方向H5接编码器DIRport_pull(H6);//IO上拉port_pull(H7);//IO上拉gpio_init(C6,GPO,0);//蜂鸣器初始化IIC_init();//IIC初始化InitMPU6050();//mpu6050初始化gpio_init(A6,GPI,1);gpio_init(G3,GPI,1);gpio_init(E1,GPI,1);gpio_init(G1,GPI,1);gpio_init(C5,GPI,1);gpio_init(G0,GPI,1);pit_time_start(pit1);while(1){UI_Main();if(gpio_get(A6)==0){flag=1;}}}#include"KEA_UI.h"#include"KEA_UI.h"uint8UI_adc[4][7]={"ADC1:","ADC2:","ADC3:","ADC4:"};//uint8UI_Dir[2][7]={"DirP:","DirD:"};uint8UI_Speed[3][7]={"Sp_P:","Sp_I:","S_Set:"};intstopFlag=0;externint16g_ValueOfAD[4];externfloatg_dirControl_P;//externfloatg_dirControl_D;/externfloatg_speedControl_P;//externfloatg_speedControl_I;// externfloatspeedset;floatspeed=28;voidUI_Main(){staticintkeyNum;staticintMenuNum=0;staticintselectFlag=0;while(gpio_get(G3)==0){keyNum=keyscan();if(MenuNum==1){OLED_P8x16Str(1,selectFlag,">");if(keyNum==3){selectFlag+=3;if(selectFlag>6)selectFlag=3;OLED_Fill(0x00);}}if(MenuNum==2){OLED_P8x16Str(1,selectFlag,">");if(keyNum==3){selectFlag+=2;if(selectFlag>6)selectFlag=2;OLED_Fill(0x00);}}if(keyNum==4){MenuNum++;if(MenuNum==1)selectFlag=3;elseif(MenuNum==2)selectFlag=2;elseselectFlag=0;OLED_Fill(0x00);if(MenuNum>3)MenuNum=0;}setNum(MenuNum,keyNum,selectFlag);switch(MenuNum){case0:menu1();break;case1:menu2();break;case2:menu3();break;}}OLED_Fill(0x00);}voidmenu1(){OLED_P8x16Str(15,0,UI_adc[0]);OLED_Print_Num(70,0,(uint16)g_ValueOfAD[0]);OLED_P8x16Str(15,2,UI_adc[1]);OLED_Print_Num(70,2,(uint16)g_ValueOfAD[1]);OLED_P8x16Str(15,4,UI_adc[2]);OLED_Print_Num(70,4,(uint16)g_ValueOfAD[2]);OLED_P8x16Str(15,6,UI_adc[3]);OLED_Print_Num(70,6,(uint16)g_ValueOfAD[3]);}voidmenu2(){OLED_P8x16Str(15,0,"Direction:");OLED_P8x16Str(15,3,UI_Dir[0]);OLED_Print_Num(70,3,(uint16)g_dirControl_P);OLED_P8x16Str(15,6,UI_Dir[1]);OLED_Print_Num(70,6,(uint16)g_dirControl_D);}voidmenu3(){OLED_P8x16Str(15,0,"Direction:");OLED_P8x16Str(15,2,UI_Speed[0]);OLED_Print_Num(70,2,(uint16)g_speedControl_P);OLED_P8x16Str(15,4,UI_Speed[1]);OLED_Print_Num(70,4,(uint16)g_speedControl_I);OLED_P8x16Str(15,6,UI_Speed[2]);OLED_Print_Num(70,6,(uint16)speed);}unsignedcharkeyscan(void){staticcharkey_state=0;staticcharkey_value=0;unsignedcharkey_press,key_return=0;key_press=turn_up&turn_down&turn_ok&turn_change;//读按键I/O电平switch(key_state){case0://按键初始态if(key_press==0)key_state=1;//键被按下，但需要确认是否是干扰break;case1://按键确认态if(key_press==0)//如有键按下则不是干扰，判断键值{if(turn_up==0)//判断是哪一个按键被按下key_value=1;//按键较多时可采用switch选择结构elseif(turn_down==0)key_value=2;elseif(turn_ok==0)key_value=3;elseif(turn_change==0)key_value=4;key_state=2;//状态转换到键释放态}elsekey_state=0;//按键已抬起，属于干扰，转换到按键初始态break;case2:if(key_press==1){key_return=key_value;//按键释放后再输出键值key_value=0;key_state=0;//如果按键释放，转换到按键初始态}break;}returnkey_return;//返回键值}voidsetNum(intMenuNum,intkeyNum,intselectFlag){if(MenuNum==1){if(selectFlag==3){if(keyNum==1)g_dirControl_P++;if(keyNum==2)g_dirControl_P--;}elseif(selectFlag==6){if(keyNum==1)g_dirControl_D++;if(keyNum==2)g_dirControl_D--;}}elseif(MenuNum==2){if(selectFlag==2){if(keyNum==1)g_speedControl_P++;if(keyNum==2)g_speedControl_P-