From cbea30033acd8ccadcc5251efc8219221447e438 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Sun, 24 Mar 2024 18:26:36 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E9=81=BF=E9=9A=9C?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E8=AE=A1=E6=97=B6=E6=B8=85=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/gl_barrier.c | 97 ++++++++-------- app/gl_barrier.h | 2 +- app/gl_circle.c | 260 +++++++++++++++++++++--------------------- app/main.c | 2 +- app/page/page_rtcam.c | 1 + 5 files changed, 179 insertions(+), 183 deletions(-) diff --git a/app/gl_barrier.c b/app/gl_barrier.c index 1a26d6b..b616572 100644 --- a/app/gl_barrier.c +++ b/app/gl_barrier.c @@ -2,9 +2,9 @@ #include "gl_headfile.h" enum barrier_type_e barrier_type = BARRIER_NONE; - - -void CheckBarrier() { +uint16 time_barrier; +void CheckBarrier() +{ if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) { barrier_type = BARRIER_LEFT_BEGIN; } @@ -13,54 +13,51 @@ void CheckBarrier() { } } -void RunBarrier() { - if (barrier_type == BARRIER_LEFT_BEGIN) - { - track_type = TRACK_RIGHT; - if (Lpt0_found) - { - Lpt0_found_count++; +void RunBarrier() +{ + if (barrier_type == BARRIER_LEFT_BEGIN) { + track_type = TRACK_RIGHT; + if (Lpt0_found) { + Lpt0_found_count++; + } + if (Lpt0_found_count >= 1 && time_barrier >= 5000) { + Lpt0_found_count = 0; + barrier_type = BARRIER_LEFT_RUNNING; + track_type = TRACK_RIGHT; + timer_clear(TIM_3); + timer_start(TIM_3); + } + } else if (barrier_type == BARRIER_LEFT_RUNNING) { + track_type = TRACK_RIGHT; + time_barrier = timer_get(TIM_3); + if (time_barrier >= 5000) { + barrier_type = BARRIER_NONE; + track_type = TRACK_RIGHT; + timer_start(TIM_3); + timer_clear(TIM_3); + } } - if (Lpt0_found_count >= 1) - { - Lpt0_found_count = 0; - barrier_type = BARRIER_LEFT_RUNNING; - track_type = TRACK_RIGHT; - } - } - else if (barrier_type == BARRIER_LEFT_RUNNING) - { - track_type = TRACK_RIGHT; - if (Lpt0_found) - { - barrier_type = BARRIER_NONE; - track_type = TRACK_RIGHT; - } - } - - if (barrier_type == BARRIER_RIGHT_BEGIN) - { - track_type = TRACK_LEFT; - if (Lpt1_found) - { - Lpt1_found_count++; + if (barrier_type == BARRIER_RIGHT_BEGIN) { + track_type = TRACK_LEFT; + if (Lpt1_found) { + Lpt1_found_count++; + } + if (Lpt1_found_count >= 1) { + Lpt1_found_count = 0; + barrier_type = BARRIER_RIGHT_RUNNING; + track_type = TRACK_LEFT; + timer_clear(TIM_3); + timer_start(TIM_3); + } + } else if (barrier_type == BARRIER_RIGHT_RUNNING) { + track_type = TRACK_LEFT; + time_barrier = timer_get(TIM_3); + if (time_barrier >= 5000) { + timer_start(TIM_3); + timer_clear(TIM_3); + barrier_type = BARRIER_NONE; + track_type = TRACK_LEFT; + } } - if (Lpt1_found_count >= 1) - { - Lpt1_found_count = 0; - barrier_type = BARRIER_RIGHT_RUNNING; - track_type = TRACK_LEFT; - } - } - else if (barrier_type == BARRIER_RIGHT_RUNNING) - { - track_type = TRACK_LEFT; - if (Lpt1_found) - { - barrier_type = BARRIER_NONE; - track_type = TRACK_LEFT; - } - } - } diff --git a/app/gl_barrier.h b/app/gl_barrier.h index 86131c2..245c8d7 100644 --- a/app/gl_barrier.h +++ b/app/gl_barrier.h @@ -10,7 +10,7 @@ enum barrier_type_e { BARRIER_LEFT_OUT, BARRIER_RIGHT_OUT, }; - +extern uint16 time_barrier; extern enum barrier_type_e barrier_type; void CheckBarrier(void); diff --git a/app/gl_circle.c b/app/gl_circle.c index 08f3350..ea52dd1 100644 --- a/app/gl_circle.c +++ b/app/gl_circle.c @@ -3,21 +3,20 @@ enum circle_type_e circle_type = CIRCLE_NONE; - -int32_t Left_Border_None_Circle = 0; +int32_t Left_Border_None_Circle = 0; int32_t Right_Border_None_Circle = 0; -int32_t Left_Border_Have_Circle = 0; +int32_t Left_Border_Have_Circle = 0; int32_t Right_Border_Have_Circle = 0; -int32_t Left_Border_ToLeft_Circle = 0; +int32_t Left_Border_ToLeft_Circle = 0; int32_t Right_Border_ToLeft_Circle = 0; -int32_t Left_Border_ToRight_Circle = 0; +int32_t Left_Border_ToRight_Circle = 0; int32_t Right_Border_ToRight_Circle = 0; - -void CheckCircle() { +void CheckCircle() +{ // 非圆环模式下，单边L角点, 单边长直道 if (circle_type == CIRCLE_NONE && Lpt0_found && !Lpt1_found && is_straight1) { circle_type = CIRCLE_LEFT_BEGIN; @@ -27,137 +26,136 @@ void CheckCircle() { } } - -void RunCircle() { - if (circle_type == CIRCLE_LEFT_BEGIN) // 左环开始，寻外直道右线 - { - track_type = TRACK_RIGHT; - - // 先丢左线后有线 - if (pts_resample_left_count < 0.1 / RESAMPLEDIST) { - Left_Border_None_Circle++; - } - if (pts_resample_left_count > 0.5 / RESAMPLEDIST &&Left_Border_None_Circle > FRAMENONE) { - Left_Border_Have_Circle++; - if (Left_Border_Have_Circle > FRAMENONE) { - circle_type = CIRCLE_LEFT_IN; - Left_Border_None_Circle = 0; - Left_Border_Have_Circle = 0; - } - } - } else if (circle_type == CIRCLE_LEFT_IN) // 入环，寻内圆左线 - { - track_type = TRACK_LEFT; - - if (pts_resample_right[(int32_t)(0.2 / RESAMPLEDIST)][1] - - pts_resample_right[0][1] < - -2) { - Right_Border_ToLeft_Circle++; - } - if (Right_Border_ToLeft_Circle > FRAMETOLEFT) { - circle_type = CIRCLE_LEFT_RUNNING; - Right_Border_ToLeft_Circle = 0; - } - } else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线 - { - track_type = TRACK_RIGHT; - // track_type = TRACK_LEFT; // 看看加一个如果丢线才切换 - if (Lpt1_found) { - pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id; - } - if (Lpt1_found && Lpt1_rpts1s_id < 0.4 / RESAMPLEDIST) { - circle_type = CIRCLE_LEFT_OUT; - } - } else if (circle_type == CIRCLE_LEFT_OUT) // 出环，寻内圆 - { - track_type = TRACK_LEFT; - - if (is_straight1) // 右线为长直道 +void RunCircle() +{ + if (circle_type == CIRCLE_LEFT_BEGIN) // 左环开始，寻外直道右线 { - circle_type = CIRCLE_LEFT_END; - } - } else if (circle_type == CIRCLE_LEFT_END) // 走过圆环，寻右线 - { - track_type = TRACK_RIGHT; + track_type = TRACK_RIGHT; - if (pts_resample_left_count < 0.2 / RESAMPLEDIST) // 左线先丢后有 + // 先丢左线后有线 + if (pts_resample_left_count < 0.1 / RESAMPLEDIST) { + Left_Border_None_Circle++; + } + if (pts_resample_left_count > 0.5 / RESAMPLEDIST && Left_Border_None_Circle > FRAMENONE) { + Left_Border_Have_Circle++; + if (Left_Border_Have_Circle > FRAMENONE) { + circle_type = CIRCLE_LEFT_IN; + Left_Border_None_Circle = 0; + Left_Border_Have_Circle = 0; + } + } + } else if (circle_type == CIRCLE_LEFT_IN) // 入环，寻内圆左线 { - Left_Border_None_Circle++; - } - if (pts_resample_left_count > 0.6 / RESAMPLEDIST && - Left_Border_None_Circle > FRAMENONE) { - circle_type = CIRCLE_NONE; - Left_Border_None_Circle = 0; - Left_Border_Have_Circle = 0; - Right_Border_ToLeft_Circle = 0; - Right_Border_ToRight_Circle = 0; - } + track_type = TRACK_LEFT; - - } else if (circle_type == CIRCLE_RIGHT_BEGIN) // 右环控制，前期寻左直道 - { - track_type = TRACK_LEFT; - - // 先丢右线后有线 - if (pts_resample_right_count < 0.3 / RESAMPLEDIST) { - Right_Border_None_Circle++; - } - if (pts_resample_right_count > 0.5 / RESAMPLEDIST && - Right_Border_None_Circle > FRAMENONE) { - Right_Border_Have_Circle++; - if (Right_Border_Have_Circle > FRAMENONE) { - circle_type = CIRCLE_RIGHT_IN; - Right_Border_None_Circle = 0; - Right_Border_Have_Circle = 0; - } - } - } else if (circle_type == CIRCLE_RIGHT_IN) // 入右环，寻右内圆环 - { - track_type = TRACK_RIGHT; - - if (pts_resample_left[(int32_t)(0.2 / RESAMPLEDIST)][1] - - pts_resample_left[0][1] > - 2) { - Left_Border_ToRight_Circle++; - } - if (Left_Border_ToRight_Circle > FRAMETORIGHT) { - circle_type = CIRCLE_RIGHT_RUNNING; - Left_Border_ToRight_Circle = 0; - } - } else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线 - { - track_type = TRACK_LEFT; - // track_type = TRACK_RIGHT; // 看看加一个如果丢线才切换 - if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点) + if (pts_resample_right[(int32_t)(0.2 / RESAMPLEDIST)][1] - + pts_resample_right[0][1] < + -2) { + Right_Border_ToLeft_Circle++; + } + if (Right_Border_ToLeft_Circle > FRAMETOLEFT) { + circle_type = CIRCLE_LEFT_RUNNING; + Right_Border_ToLeft_Circle = 0; + } + } else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线 { - pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id; - } - if (Lpt0_found && Lpt0_rpts0s_id < 0.4 / RESAMPLEDIST) { - circle_type = CIRCLE_RIGHT_OUT; - } - } else if (circle_type == CIRCLE_RIGHT_OUT) // 出环，寻内圆 - { - track_type = TRACK_RIGHT; - - if (is_straight0) // 加个有线长度判断 + track_type = TRACK_RIGHT; + // track_type = TRACK_LEFT; // 看看加一个如果丢线才切换 + if (Lpt1_found) { + pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id; + } + if (Lpt1_found && Lpt1_rpts1s_id < 0.4 / RESAMPLEDIST) { + circle_type = CIRCLE_LEFT_OUT; + } + } else if (circle_type == CIRCLE_LEFT_OUT) // 出环，寻内圆 { - circle_type = CIRCLE_RIGHT_END; - } - } else if (circle_type == CIRCLE_RIGHT_END) // 走过圆环，寻左线 - { - track_type = TRACK_LEFT; + track_type = TRACK_LEFT; - if (pts_resample_right_count < 0.2 / RESAMPLEDIST) // 左线先丢后有 + if (is_straight1) // 右线为长直道 + { + circle_type = CIRCLE_LEFT_END; + } + } else if (circle_type == CIRCLE_LEFT_END) // 走过圆环，寻右线 { - Right_Border_None_Circle++; + track_type = TRACK_RIGHT; + + if (pts_resample_left_count < 0.2 / RESAMPLEDIST) // 左线先丢后有 + { + Left_Border_None_Circle++; + } + if (pts_resample_left_count > 0.6 / RESAMPLEDIST && + Left_Border_None_Circle > FRAMENONE) { + circle_type = CIRCLE_NONE; + Left_Border_None_Circle = 0; + Left_Border_Have_Circle = 0; + Right_Border_ToLeft_Circle = 0; + Right_Border_ToRight_Circle = 0; + } + + } else if (circle_type == CIRCLE_RIGHT_BEGIN) // 右环控制，前期寻左直道 + { + track_type = TRACK_LEFT; + + // 先丢右线后有线 + if (pts_resample_right_count < 0.3 / RESAMPLEDIST) { + Right_Border_None_Circle++; + } + if (pts_resample_right_count > 0.5 / RESAMPLEDIST && + Right_Border_None_Circle > FRAMENONE) { + Right_Border_Have_Circle++; + if (Right_Border_Have_Circle > FRAMENONE) { + circle_type = CIRCLE_RIGHT_IN; + Right_Border_None_Circle = 0; + Right_Border_Have_Circle = 0; + } + } + } else if (circle_type == CIRCLE_RIGHT_IN) // 入右环，寻右内圆环 + { + track_type = TRACK_RIGHT; + + if (pts_resample_left[(int32_t)(0.2 / RESAMPLEDIST)][1] - + pts_resample_left[0][1] > + 2) { + Left_Border_ToRight_Circle++; + } + if (Left_Border_ToRight_Circle > FRAMETORIGHT) { + circle_type = CIRCLE_RIGHT_RUNNING; + Left_Border_ToRight_Circle = 0; + } + } else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线 + { + // track_type = TRACK_RIGHT; + track_type = TRACK_LEFT; // 看看加一个如果丢线才切换 + if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点) + { + pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id; + } + if (Lpt0_found && Lpt0_rpts0s_id < 0.4 / RESAMPLEDIST) { + circle_type = CIRCLE_RIGHT_OUT; + } + } else if (circle_type == CIRCLE_RIGHT_OUT) // 出环，寻内圆 + { + track_type = TRACK_RIGHT; + + if (is_straight0) // 加个有线长度判断 + { + circle_type = CIRCLE_RIGHT_END; + } + } else if (circle_type == CIRCLE_RIGHT_END) // 走过圆环，寻左线 + { + track_type = TRACK_LEFT; + + if (pts_resample_right_count < 0.2 / RESAMPLEDIST) // 左线先丢后有 + { + Right_Border_None_Circle++; + } + if (pts_resample_right_count > 0.7 / RESAMPLEDIST && + Right_Border_None_Circle > FRAMENONE) { + circle_type = CIRCLE_NONE; + Right_Border_None_Circle = 0; + Right_Border_Have_Circle = 0; + Left_Border_ToLeft_Circle = 0; + Left_Border_ToRight_Circle = 0; + } } - if (pts_resample_right_count > 0.7 / RESAMPLEDIST && - Right_Border_None_Circle > FRAMENONE) { - circle_type = CIRCLE_NONE; - Right_Border_None_Circle = 0; - Right_Border_Have_Circle = 0; - Left_Border_ToLeft_Circle = 0; - Left_Border_ToRight_Circle = 0; - } - } } diff --git a/app/main.c b/app/main.c index 3bd8dc2..0075879 100644 --- a/app/main.c +++ b/app/main.c @@ -49,7 +49,7 @@ int main(void) Page_Init(); pit_ms_init(TIM1_PIT, 10); - + timer_init(TIM_3, TIMER_MS); by_frame_init(); printf("start running\r\n"); diff --git a/app/page/page_rtcam.c b/app/page/page_rtcam.c index ba31067..0ed4a59 100644 --- a/app/page/page_rtcam.c +++ b/app/page/page_rtcam.c @@ -62,6 +62,7 @@ static void Loop() ips200_show_uint(160, 205, Lpt0_found_barrier_in, 3); ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3); ips200_show_uint(200, 165, barrier_type, 3); + ips200_show_uint(200, 185, time_barrier, 5); } /**