飞思卡尔智能车 智能车源代码光电组(有注解).docVIP

智能车源代码光电组(有注解) #include hidef.h /* common defines and macros */ #include mc9s12dg256.h /* derivative information */ #include math.h #include PWM.h #include ATD.h #include LQprintp.h #pragma LINK_INFO DERIVATIVE mc9s12dg256b unsigned int i = 0; unsigned int j = 0; unsigned int t = 0; byte ad_value[13]; uchar data[13]; int sum = 0; uchar start_flag = 0; uchar num = 0; uchar lw=0; unsigned int per = 65530; int SPWM = 0; int L_SPWM = 0; unsigned int SPmax = 1000; int MPWM = 0; uchar current_corrd = 0; static unsigned int mem_num = 0; //***********************PID******************************* static unsigned int Kp=25; static unsigned int Kp2=60; static unsigned int Ki=9; static unsigned int Kd=30; static unsigned int rKp=100; static unsigned int rKp2=60; static unsigned int rKi=0; static unsigned int rKd=60; unsigned short E = 5; unsigned char q = 1; int Mp = 0; int Mi = 0; int Md = 0; int Mp2 = 0; int P_Speed = 0; int L_u[3]; //********************************************************** //***********************舵机PID变量********************** static unsigned int s_sKp=35; //直道PID的P值 static unsigned int s_sKp2=0; //直道PID的二阶P值 static unsigned int s_sKi=0; //直道PID的I值 static unsigned int s_sKd=10; //直道PID的D值 //****用于防止PID溢出****** unsigned short s_sE = 5; unsigned char s_sq = 1; //************************* //****分别存放P I D 值***** int s_sMp = 0; int s_sMi = 0; int s_sMd = 0; int s_sMp2 = 0; //************************* int sL_u[3]; //存放前3次理论速度与实际速度的差值 int last_corrd[3][10] ={{0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}}; //********************************************************* //*********************PID调试中断************************** unsigned char cp = 0; unsigned char ci = 0; unsigned char cd = 0; unsigned int search_PACN10; unsigned int np = 0; unsigned int sp[500];