东北大学程序.doc
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东北大学程序
#include hidef.h /* common defines and macros */
#include mc9s12db128.h /* derivative information */
#include MATH.H
#pragma LINK_INFO DERIVATIVE mc9s12db128b
#include main_asm.h /* interface to the assembly module */
#define SG 30 //直道速度上限
#define POWER_ADJUST 900
#define BrakeDen 10 //减速加速度预测
#define SpeedLose 3 //速度恢复
#define DEBUG_EN
#define ABNORMAL_SAMPLE
#define SpeedCtl_I_init 500
#define ROUND 3
#define BLACKMAX 15
#define WHITEMAX 200
#define FRAME_LEFT 1
#define FRAME_RIGHT 46
#define FRAME_TOP 38
#define FRAME_BOTTOM 1
#define VL1 30
#define VL2 72
#define BLACK_ADJUST 47
#define DC12V_STEADY 1
#define ODD_INTERRUPT 2
#define EVEN_INTERRUPT 3
#define ROW_INTERRUPT 4
#define FEILD_START 5
#define ROW_START 6
#define ATD_INTERRUPT 7
#define ROW_FINISH 8
#define FRAME_FINISH 9
#define DC12GIVEN 145
#define PWM23MAX 1150
#define Drow 0
#define STEER_MID 791
#define STEER_MAX 88
#define STEER_MIN -88
#define ROAD_UNKNOWN 0 //U
#define ROAD_WELL 1 //W
#define ROAD_LEFT 2 //L
#define ROAD_RIGHT 3 //R
#define ROAD_OUT 4 //O
#define ROAD_CROSS 5 //C
#define STARTING_LINE 6 //S
#define DOTTED_LINE 7 //D
#define ROAD_POLLUTED 8 //P
#define ROAD_BREAK 9 //B
#define STRIGHT 1
#define LEFT_TURN 2
#define RIGHT_TURN 3
#define SPEED_LIMIT 4
#define SPRINT 5
#define INCOMPLETE 1
#define COMPLETED 2
#define OVERFLOW 3
#define STRIGHT_FLAG 1
#define LEFT_TURN_FLAG 2
#define RIGHT_TURN_FLAG 3
#define STARTINGLINE_FLAG 4
#define UPHILL_FLAG 8
#define
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