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標題: 一種顏色識別機器人 STM32代碼 [打印本頁]

作者: ljl6666 時間: 2020-3-27 16:29
標題: 一種顏色識別機器人 STM32代碼
#include "sys.h"
int a[7],a_dian[7];
int abc1,abc2,abc3,abc4;
int timech=0,chao1,timesc,countsc,dj[9];
u16 pcolor[3]={0};

int bi1=515,bi2=2495,bi3=2500,bi4=1600,shou1=1020;
int bi1_last,bi2_last,bi3_last,bi4_last,shou1_last,a1,a2,a3,a4,a5,a6;
int sx1,sx2,sx3,sx4;
extern int colour;
int main(void)
{       int lk1,lk2,lk3,lkk2;
      u8 t,len,adx;
      int i1,colour_zhi;
      a[1]=3;a[2]=0;a[3]=3;a[4]=0;a[5]=3;a[6]=0;
      a_dian[1]=0;a_dian[2]=0;a_dian[3]=0;a_dian[4]=0;a_dian[5]=0;a_dian[6]=0;
      my_init(); pcolor[0]=50,pcolor[1]=50,pcolor[2]=50;
               while(0)
      {
            colour_zhi=colourjudge(pcolor),printf("%d  %d %d    %d \r\n",colour_zhi,pcolor[0],pcolor[1],pcolor[2]);

      }
      duoji(515,2495,2500,1600,1020);
      duoji(515,2495,2500,1600,1420);
  duoji(515,2495,2500,1600,1020);

      i1=100;

  while(1)
{
qi_shi();//Æe2½3ìDò
while(1)//ÑÕé«135
{




while(a[3])
{

      fang_zhi_jing_du();
                                    while(1)
{
if(KEY13==0)a2=0;else a2=-20;
if(KEY10==0)a1=0;else a1=-20;
if((KEY13+KEY10)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[3],0);
jia_qu_di_ji_kuai(a[3]);
zhong_xin_wei_zhi_tiao_jie(a[3],1);

      a[3]=a[3]-1;
      while(1)
      {
      colour_zhi=colourjudge(pcolor),printf("%d\r\n",colour_zhi);
      if((0<colour_zhi)&&(colour_zhi<6))break;
      }
//duoji(515,2495,1700,900,1760);
duoji(515,2495,2500,1600,1760);

if(colour_zhi==3)
{if(a[3]==0)
      {zou_dao_zhi_ding_fang_zhi_wei_zhi(3);
            fang_zhi_jing_du();
      fang_zhi_nu_biao_dian_tiao_jie(a_dian[3]+1);
            fang_zhi_di_ji_kuai(a_dian[3]+1);
            a_dian[3]=a_dian[3]+1;
            dao_che(3);
      }
else
{lu_xian_qie_huan_zhong_ji(3,6);
fang_zhi_jing_du();
while(1)
{
if(KEY13==0)a2=0;else a2=-20;
if(KEY10==0)a1=0;else a1=-20;
if((KEY13+KEY10)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[6]+1,0);
fang_zhi_di_ji_kuai(a[6]+1);
zhong_xin_wei_zhi_tiao_jie(a[6]+1,1);
lu_xian_qie_huan_zhong_ji(6,3);
a[6]=a[6]+1;}
}
if(colour_zhi==1)
{
lu_xian_qie_huan_zhong_ji(3,2);
      fang_zhi_jing_du();
while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[2]+1,0);
fang_zhi_di_ji_kuai(a[2]+1);
zhong_xin_wei_zhi_tiao_jie(a[2]+1,1);
lu_xian_qie_huan_zhong_ji(2,3);
a[2]=a[2]+1;
}
if(colour_zhi==5)
{
lu_xian_qie_huan_zhong_ji(3,4);//////////////////////////////////////////////
      fang_zhi_jing_du();
while(1)
{

if(KEY10==0)a1=0,a2=0;else a1=-20,a2=-20;
if((KEY10)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[4]+1,0);

if((a[4]+1)==1)
{lkk2=4;
      while(lkk2--)
fastforward_turn(-20,20);}
fang_zhi_di_ji_kuai(a[4]+1);
if((a[4]+1)==1)
{lkk2=4;
      while(lkk2--)
fastforward_turn(20,-20);}
zhong_xin_wei_zhi_tiao_jie(a[4]+1,1);
lu_xian_qie_huan_zhong_ji(4,3);
a[4]=a[4]+1;

}
}
if(a[6]!=0)
{
while(1)
{
if(KEY13==0)a2=0;else a2=-20;
if(KEY10==0)a1=0;else a1=-20;
if((KEY13+KEY10)==0)break;
fastforward_turn(a1,a2);
}

}
while(a[6]!=0)
{
      lu_xian_qie_huan_zhong_ji(3,6);
      fang_zhi_jing_du();
while(1)
{
if(KEY13==0)a2=0;else a2=-20;
if(KEY10==0)a1=0;else a1=-20;
if((KEY13+KEY10)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[6],0);
jia_qu_di_ji_kuai(a[6]);
zhong_xin_wei_zhi_tiao_jie(a[6],1);

a[6]=a[6]-1;
lu_xian_qie_huan_zhong_ji(6,3);
zou_dao_zhi_ding_fang_zhi_wei_zhi(3);
      fang_zhi_jing_du();
fang_zhi_nu_biao_dian_tiao_jie(a_dian[3]+1);
      fang_zhi_di_ji_kuai(a_dian[3]+1);
      a_dian[3]=a_dian[3]+1;
      dao_che(3);
}
lu_xian_qie_huan_zhong_ji(3,1);///////////////////////////////////////////μú¶t¶Ñ
while(a[1])
{
      fang_zhi_jing_du();
                                    while(1)
{
if(KEY13==0)a2=0;else a2=-20;
if(KEY10==0)a1=0;else a1=-20;
if((KEY13+KEY10)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[1],0);
      jia_qu_di_ji_kuai(a[1]);
zhong_xin_wei_zhi_tiao_jie(a[1],1);

      a[1]=a[1]-1;
      while(1)
      {colour_zhi=colourjudge(pcolor),printf("%d\r\n",colour_zhi);
      if((0<colour_zhi)&&(colour_zhi<6))break;}
//duoji(515,2495,1700,900,1670);
//duoji(515,2495,2500,1600,1750);
duoji(515,2495,2500,1600,1760);
if(colour_zhi==3)
{  lu_xian_qie_huan_zhong_ji(1,3);
      zou_dao_zhi_ding_fang_zhi_wei_zhi(3);
      fang_zhi_jing_du();
fang_zhi_nu_biao_dian_tiao_jie(a_dian[3]+1);
            fang_zhi_di_ji_kuai(a_dian[3]+1);
            a_dian[3]=a_dian[3]+1;
            dao_che(3);
      lu_xian_qie_huan_zhong_ji(3,1);

}
if(colour_zhi==1)
{if(a[1]==0)
      {
      zou_dao_zhi_ding_fang_zhi_wei_zhi(1);
            fang_zhi_jing_du();
            fang_zhi_nu_biao_dian_tiao_jie(a_dian[1]+1);
      fang_zhi_di_ji_kuai(a_dian[1]+1);
            a_dian[1]=a_dian[1]+1;
            dao_che(1);

      }
      else
      {lu_xian_qie_huan_zhong_ji(1,2);
            fang_zhi_jing_du();
      while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[2]+1,0);
fang_zhi_di_ji_kuai(a[2]+1);
zhong_xin_wei_zhi_tiao_jie(a[2]+1,1);
lu_xian_qie_huan_zhong_ji(2,1);
a[2]=a[2]+1;
      }
}
if(colour_zhi==5)
{
lu_xian_qie_huan_zhong_ji(1,4);
      fang_zhi_jing_du();
      while(1)
{

if(KEY10==0)a1=0,a2=0;else a1=-20,a2=-20;
if((KEY10)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[4]+1,0);
fang_zhi_di_ji_kuai(a[4]+1);
zhong_xin_wei_zhi_tiao_jie(a[4]+1,1);
lu_xian_qie_huan_zhong_ji(4,1);
a[4]=a[4]+1;
}
}
//zhong_xin_wei_zhi_tiao_jie(a[2]+1,0);
if(a[2]!=0)
{
            while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}

}
while(a[2]!=0)
{lu_xian_qie_huan_zhong_ji(1,2);
      fang_zhi_jing_du();
            while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}

      zhong_xin_wei_zhi_tiao_jie(a[2],0);

qian_jin_mai_chong(-10);
jia_qu_di_ji_kuai(a[2]);
qian_jin_mai_chong(10);

      zhong_xin_wei_zhi_tiao_jie(a[2],1);

a[2]=a[2]-1;
lu_xian_qie_huan_zhong_ji(2,1);
zou_dao_zhi_ding_fang_zhi_wei_zhi(1);
      fang_zhi_jing_du();
      fang_zhi_nu_biao_dian_tiao_jie(a_dian[1]+1);
      fang_zhi_di_ji_kuai(a_dian[1]+1);
      a_dian[1]=a_dian[1]+1;
      dao_che(1);

}
/////////////////////////////////
lu_xian_qie_huan_zhong_ji(1,5);/////////////μúsan¶Ñ
while(a[5])
{

      fang_zhi_jing_du();
                                    while(1)
{
if(KEY13==0)a2=0;else a2=-20;
if(KEY10==0)a1=0;else a1=-20;
if((KEY13+KEY10)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[5],0);
      jia_qu_di_ji_kuai(a[5]);
zhong_xin_wei_zhi_tiao_jie(a[5],1);
      a[5]=a[5]-1;
      while(1)
      {colour_zhi=colourjudge(pcolor),printf("%d\r\n",colour_zhi);
      if((0<colour_zhi)&&(colour_zhi<6))break;}
//duoji(515,2495,1700,900,1670);
//duoji(515,2495,2500,1600,1750);
      duoji(515,2495,2500,1600,1760);
if(colour_zhi==3)
{  lu_xian_qie_huan_zhong_ji(5,3);

      zou_dao_zhi_ding_fang_zhi_wei_zhi(3);
      fang_zhi_jing_du();
fang_zhi_nu_biao_dian_tiao_jie(a_dian[3]+1);
            fang_zhi_di_ji_kuai(a_dian[3]+1);
            a_dian[3]=a_dian[3]+1;
            dao_che(3);
      lu_xian_qie_huan_zhong_ji(3,5);

}
if(colour_zhi==1)
{
      lu_xian_qie_huan_zhong_ji(5,1);
      zou_dao_zhi_ding_fang_zhi_wei_zhi(1);
fang_zhi_jing_du();
      fang_zhi_nu_biao_dian_tiao_jie(a_dian[1]+1);
      fang_zhi_di_ji_kuai(a_dian[1]+1);
            a_dian[1]=a_dian[1]+1;
            dao_che(1);
            lu_xian_qie_huan_zhong_ji(1,5);
}
if(colour_zhi==5)
{if(a[5]==0)
{
zou_dao_zhi_ding_fang_zhi_wei_zhi(5);
      fang_zhi_jing_du();
      fang_zhi_nu_biao_dian_tiao_jie(a_dian[5]+1);
fang_zhi_di_ji_kuai(a_dian[5]+1);
            a_dian[5]=a_dian[5]+1;
            dao_che(5);
}
else
{lu_xian_qie_huan_zhong_ji(5,2);
      fang_zhi_jing_du();
zhong_xin_wei_zhi_tiao_jie(a[2]+1,0);

fang_zhi_di_ji_kuai(a[2]+1);
zhong_xin_wei_zhi_tiao_jie(a[2]+1,1);
lu_xian_qie_huan_zhong_ji(2,5);
a[2]=a[2]+1;}
}
}
if(a[2]!=0)
{
            while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}

}
while(a[2]!=0)
{       while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}
      lu_xian_qie_huan_zhong_ji(5,2);
      fang_zhi_jing_du();
      while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}
zhong_xin_wei_zhi_tiao_jie(a[2],0);

jia_qu_di_ji_kuai(a[2]);
zhong_xin_wei_zhi_tiao_jie(a[2],1);
a[2]=a[2]-1;
lu_xian_qie_huan_zhong_ji(2,5);
zou_dao_zhi_ding_fang_zhi_wei_zhi(5);
      fang_zhi_jing_du();
      fang_zhi_nu_biao_dian_tiao_jie(a_dian[5]+1);
      fang_zhi_di_ji_kuai(a_dian[5]+1);
      a_dian[5]=a_dian[5]+1;
      dao_che(5);

}

if(a[4]!=0)
{
            while(1)
{
if(KEY13==0)a2=0,a1=0;else a2=-20,a1=-20;

if((KEY13)==0)break;
fastforward_turn(a1,a2);
}

}

while(a[4]!=0)
{lu_xian_qie_huan_zhong_ji(5,4);
      fang_zhi_jing_du();
      while(1)
{

if(KEY10==0)a1=0,a2=0;else a1=-20,a2=-20;
if((KEY10)==0)break;
fastforward_turn(a1,a2);
}
//zhong_xin_wei_zhi_tiao_jie(a[4],0);
zhong_xin_wei_zhi_tiao_jie(a[4],0);
jia_qu_di_ji_kuai(a[4]);
//zhong_xin_wei_zhi_tiao_jie(a[4],1);
zhong_xin_wei_zhi_tiao_jie(a[4],1);
qian_jin_mai_chong(10);
a[4]=a[4]-1;
lu_xian_qie_huan_zhong_ji(4,5);
zou_dao_zhi_ding_fang_zhi_wei_zhi(5);
      fang_zhi_jing_du();
      fang_zhi_nu_biao_dian_tiao_jie(a_dian[5]+1);
      fang_zhi_di_ji_kuai(a_dian[5]+1);
      a_dian[5]=a_dian[5]+1;
      dao_che(5);
}
lu_xian_qie_huan_zhong_ji(5,3);
abc4=4;
while(abc4--)
{

abc2=-20,abc3=20;
fastforward_turn(abc2,abc3);

}

while(1)
{
abc1=KEY25+KEY24+KEY23+KEY22;
if(KEY25==1)abc2=-40;else abc2=-70;
      if(KEY23==0)abc2=-100;
if(KEY24==1)abc3=-40;else abc3=-70;
      if(KEY22==0)abc3=-100;
if(abc1<=1)abc2=0,abc3=0;
fastforward_turn(abc2,abc3);
if(abc1<=1)break;
}
abc4=40;
while(abc4--)
{

abc2=-150,abc3=-150;
fastforward_turn(abc2,abc3);

}
fastforward_turn(0,0);
while(1);

//lu_xian_qie_huan_zhong_ji(3,colour_zhi);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(colour_zhi);
//fang_zhi_di_ji_kuai(1);
//dao_che(colour_zhi);
//if(colour_zhi!=3)
//lu_xian_qie_huan_zhong_ji(colour_zhi,3);
}
//printf("%d\r\n",colour_zhi);
//


//jia_qu_di_ji_kuai(3);
//colourjudge(pcolor);
//lu_xian_qie_huan(3,2);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(2);
//dao_che(2);
//lu_xian_qie_huan(2,1);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(1);
//dao_che(1);
//lu_xian_qie_huan(1,2);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(2);
//dao_che(2);
//lu_xian_qie_huan(2,3);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(3);
//dao_che(3);
//lu_xian_qie_huan(3,4);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(4);
//dao_che(4);
//lu_xian_qie_huan(4,5);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(5);
//dao_che(5);
//lu_xian_qie_huan(5,6);////////////////////////////////////////

//lu_xian_qie_huan(6,5);////////////////////////////////////////

//lu_xian_qie_huan(5,4);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(4);
//dao_che(4);
//lu_xian_qie_huan(4,3);
//zou_dao_zhi_ding_fang_zhi_wei_zhi(3);
//dao_che(3);

      }
}

1.顏色識別135.7z

200.06 KB, 下載次數(shù): 6, 下載積分: 黑幣 -5

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