115 lines
2.9 KiB
C
115 lines
2.9 KiB
C
#include "zf_common_headfile.h"
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#include "gl_headfile.h"
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enum barrier_type_e barrier_type = BARRIER_NONE;
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enum s_type_e s_type = S_NONE;
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uint16 time_barrier;
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float (*mid_track_s)[2];
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int32_t mid_track_count_s;
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int temp_min_s;
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int temp_max_s;
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void CheckBarrier()
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{
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if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
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barrier_type = BARRIER_LEFT_BEGIN;
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}
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if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
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barrier_type = BARRIER_RIGHT_BEGIN;
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}
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}
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void RunBarrier()
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{
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if (barrier_type == BARRIER_LEFT_BEGIN) {
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track_type = TRACK_RIGHT;
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if (Lpt0_found) {
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Lpt0_found_count++;
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}
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if (Lpt0_found_count >= 1) {
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Lpt0_found_count = 0;
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barrier_type = BARRIER_LEFT_RUNNING;
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track_type = TRACK_RIGHT;
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timer_clear(TIM_3);
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timer_start(TIM_3);
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}
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} else if (barrier_type == BARRIER_LEFT_RUNNING) {
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track_type = TRACK_RIGHT;
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time_barrier = timer_get(TIM_3);
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if (time_barrier >= 220) {
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barrier_type = BARRIER_NONE;
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track_type = TRACK_RIGHT;
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timer_start(TIM_3);
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timer_clear(TIM_3);
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}
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}
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if (barrier_type == BARRIER_RIGHT_BEGIN) {
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track_type = TRACK_LEFT;
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if (Lpt1_found) {
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Lpt1_found_count++;
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}
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if (Lpt1_found_count >= 1) {
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Lpt1_found_count = 0;
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barrier_type = BARRIER_RIGHT_RUNNING;
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track_type = TRACK_LEFT;
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timer_clear(TIM_3);
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timer_start(TIM_3);
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}
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} else if (barrier_type == BARRIER_RIGHT_RUNNING) {
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track_type = TRACK_LEFT;
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time_barrier = timer_get(TIM_3);
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if (time_barrier >= 220) {
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timer_start(TIM_3);
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timer_clear(TIM_3);
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barrier_type = BARRIER_NONE;
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track_type = TRACK_LEFT;
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}
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}
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}
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void Check_s(){
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if (track_type == TRACK_LEFT) {
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mid_track_s = mid_left;
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mid_track_count_s = mid_left_count;
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} else {
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mid_track_s = mid_right;
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mid_track_count_s = mid_right_count;
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}
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int min_s = 1000;
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int max_s = 1;
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for (int i = 0; i < mid_track_count_s; i++)
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{
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if (mid_track_s[i][1] < min_s)
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{
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min_s = mid_track_s[i][1];
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temp_min_s = min_s;
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}
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if (mid_track_s[i][1] > max_s)
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{
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max_s = mid_track_s[i][1];
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temp_max_s = max_s;
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}
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}
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if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5)
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{
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s_type = S_BEGIN;
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}
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}
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void RunS(){
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if (temp_max_s - temp_min_s >30 || (is_straight0 && is_straight1))
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{
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s_type = S_NONE;
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}
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} |