【正文】 86,783,782,780,778,776,775,773,772,770,769,768,767,765,765,764,763,762,762,761,761,760,760,760,760,760,759,759,758,758,757,756,755,755,753,752,751,750,748,747,745,744,742,740,738,737,734,732,730,728,725,723,720,718,715,712,709,707,703,700,697,694,690,687,683,680,676,672,668,665,660,660,660,*//*//860,859,858,857,856,855,854,853,851,850,849,848,847,846,845,843,842,841,840,838,837,836,834,833,831,830,829,827,825,824,822,821,819,817,815,813,812,809,807,805,803,800,798,795,792,789,785,780,774,760,746,740,735,731,728,725,722,720,717,715,713,711,708,707,705,703,701,699,698,696,695,693,691,690,689,687,686,684,683,682,680,679,678,677,675,674,673,672,671,670,669,667,666,665,664,663,662,661,660,*/}。const signed char DirTab[169]={49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,/*49,48,47,46,45,44,43,42,41,40,39,38,37,36,35,34,33,32,31,30,29,28,27,26,25,23,21,19,17,15,14,14,13,13,12,12,11,11,10,10,9,8,7,6,5,4,3,2,1,0,1,2,3,4,5,6,7,8,9,10,10,11,11,12,12,13,13,14,14,15,17,19,21,23,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,*//*49,47,45,43,41,39,37,36,34,32,31,29,27,26,25,23,22,20,19,18,17,16,14,13,12,11,10,9,9,8,7,6,5,5,4,4,3,2,2,2,1,1,1,0,0,0,0,0,0,*/49,48,47,46,45,44,43,42,41,40,39,38,37,36,35,34,33,32,31,30,29,28,27,26,25,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,/*0,0,0,0,0,0,0,1,1,1,2,2,2,3,4,4,5,5,6,7,8,9,9,10,11,12,13,14,16,17,18,19,20,22,23,25,26,27,29,31,32,34,36,37,39,41,43,45,47,49,*/49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49}。const signed char OffTab[71]={35,34,33,32,31,30,29,28,27,26,25,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35}。const signed int SpdTab[201]={/*40,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,42,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,41,40,*/42,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,44,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,43,42,}。//兩排傳感器的參數(shù)極變量unsigned char Vmin8[8]。 //Vmin跑道上電壓的最小值，Vmax跑道上的電壓最大值unsigned char Vk8[8]。 //Vk=VmaxVminsigned char PreMiss8。 //記錄上次誤差unsigned char VUnit8[8][256]。 //存放歸一化后的數(shù)據(jù)unsigned char Vmin6[6]。 //Vmin跑道上電壓的最小值，Vmax跑道上的電壓最大值unsigned char Vk6[6]。 //Vk=VmaxVminsigned char PreMiss6。 //記錄上次誤差unsigned char VUnit6[6][256]。 //存放歸一化后的數(shù)據(jù)//signed char Direction[10]。 //記錄10次采樣的方向信息//signed char Offset[10]。 //記錄10次采樣的偏置信息signed char Position8[10]。 //存放最近10次的第一排傳感器的位置信息signed char Position6[10]。 //存放最近10次的第二排傳感器的位置信息unsigned char GPMsg[10]。 //記錄錯(cuò)誤信息signed char PointNow=0。 //只向當(dāng)前的位置signed char PointPre=9。 //指向上個(gè)位置signed char ReNew。 //表示是否應(yīng)該更新方向，0表示更新unsigned char Corner。 //表明正在轉(zhuǎn)彎signed long TotalPlues=0。 //記錄全程有多少個(gè)脈沖unsigned char CornerStat=0。 //表明轉(zhuǎn)彎狀態(tài),0,直道,1開始入彎,2正在轉(zhuǎn)彎//unsigned int SCDly。 //表明入用多少時(shí)間,signed long SthDly。 //表明從彎進(jìn)直道要延時(shí)多少才提速 unsigned char BreakSig=1。 //剎車信號(hào)signed long Spd=0。 //記錄驅(qū)動(dòng)PWM輸出unsigned int TimeTick=0。 //記錄中斷次數(shù)unsigned char LapNo=0。 //標(biāo)志當(dāng)前圈signed int Dir。 //方向signed int Offset。 //偏移unsigned char VIP=0。 //指向當(dāng)前關(guān)鍵點(diǎn)signed long RoadStat[100]。 //記錄路況signed long RoadPlue[100]。 //記錄位置unsigned char ReVIP=0。 //記憶時(shí)所使用的關(guān)鍵點(diǎn)unsigned char BreakSig2=0。 //入彎減速是使用剎車的標(biāo)志signed long RePlue=0。 //記憶時(shí)的距離signed long MaxPlue=0。 //單圈最大的脈沖unsigned char _SKP=1。 //處理S彎時(shí)的P參數(shù)unsigned char LowSpeed=1。 //表示允許彎道低速模式signed long SCorDly=0。 //表示S需要的固定延時(shí)signed long SMiss=0。 //修正因S彎帶來(lái)的延時(shí)signed long FinLine=0。 //記錄開始沖刺的點(diǎn)signed long LuCheng=0。 //記錄分析路程之和signed long WanDu=0。 //記錄分析路程的彎度與路程的積分gohsigned long NxtPoint=588。 //記錄下一個(gè)分析點(diǎn)的位置signed int OffMiss=0。unsigned char Corner2=0。 //小彎標(biāo)志define DEF_STH_SPEED 22 //默認(rèn)直道速度define DEF_COR_SPEED 16 //默認(rèn)彎道速度signed int Speed=DEF_STH_SPEED。 //速度設(shè)定 signed int CORNER_SPEED=DEF_COR_SPEED。 //轉(zhuǎn)彎的速度AS1_TComData Debug