军交2队技术报告 - 图文

//********************************************************// //高速急转弯时的判断

//********************************************************// sensor_far = PORTAD1;

sensor_far = sensor_far &0x03; if(sensor_far != 0) //紧急制动控制 { if(flag_straight==1) { flag_straight=0;

if(real_speedf>=86)//44___1.5m/s; 57___2m/s;86___3m {

flag_sharp_corner=1; } } } else {

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}

}

}

{

shift_count=0; flag_shift=1; }

if(flag_shift==1) { flag_shift=0; speed_dec++; speed_b+=speed_dec*speed_dec; if(speed_b>255)//这里设置最高制动控制值 { speed_b=255; speed_dec=0; } brake(speed_b); }

动

flag_sharp_corner=0; flag_straight=1; }

if(flag_sharp_corner==1) { flag_sharp_corner=0;

speed_b=200;//紧急制动初始控制值 flag_sharp_brake=1;

flag_brake=1; flag_ac=0; shift_count=0; speed_dec=0; }

if((flag_sharp_brake==1)&&(real_speedf<57))//速度小于1.5m/s时解除制

{

flag_sharp_brake=0; flag_brake=0; flag_ac=1;

speed_d=basic_speed_d; //恢复默认植 speed_inc=0; }

} }

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