612 lines
8.6 KiB
Markdown
612 lines
8.6 KiB
Markdown
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---
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#领域/未知
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#复盘/0 #临时/备忘 #状态/待处理
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20260507-备忘-主题名-文件内容
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## 一句话描述
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[________]
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---
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[主要涉及文件]
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mainwindow.cpp
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[需求说明]
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我已经更新 gen_main.c 为最新测试 main.c 内容
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下面是我发现的问题：
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1. RobotInit(); 不应该出现在 start_task 中
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2. NYT_USER_UCOS();
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while(1);的位置没有在 int main() 的最后
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[核心需求]
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## 最终组合的 main.c
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[初始代码]
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void start_task(void) {
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[自定义代码]
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}
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int main() {
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[优先运行代码]
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NYT_USER_UCOS();
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while(1);
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}
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## 右侧预览显示
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void start_task(void) {
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[自定义代码]
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}
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[注意事项]
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1. 在修改代码时不要一次性进行太多颠覆性修改，要引导我来逐步分析和实现
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2. gen_main.c 中的内容是最新生成的 main.c
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[补充说明]
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下方代码仅供测试是否正常组合的参考，实际应用会灵活修改
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## 初始代码
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```c
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#include "main.h"
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#include "2020zhjn.h"
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#include "Servo.h"
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int s2_k=200;//1号舵机张开
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int s2_b=120;//1号舵机闭合
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int s_color=0;//颜色识别变量1
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int beep_t=8; //非十字模块路口鸣叫时间
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int beep_t1=4;//过十字模块路口鸣叫时间
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int SD1=60;//非十字拼装块直线速度
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int SD2=45;//非十字拼装块转弯速度
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int SD3=55;//非十字拼路口冲出速度
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/*高低速轨迹函数*/
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void H_LOW(int H_L)//1为高速 0为低速
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{
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if(H_L==0)DRIVE_CROSS(7,2,-4,-7,-10);//低速走轨迹函数
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else DRIVE_CROSS(8,6,1,-2,-4);//高速走轨迹函数
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}
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int flog=0;
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int fga=0;
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int fdou=0;
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/*多任务系统参数设置*/
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void *User_Task1_Handle=NULL;
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void *User_Task2_Handle=NULL;
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void *User_Task3_Handle=NULL;
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void *User_Task4_Handle=NULL;
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void *User_Task5_Handle=NULL;
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void USERTASK1();
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void USERTASK2();
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void USERTASK3();
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void USERTASK4();
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void USERTASK5();
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int red_blue_all=8,gray_green_all=4;//木块总数量
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int red_blue=0,gray_green=0;//识别到的木块数
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/****垃圾分拣任务舵机角度设置，
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以下参数必调，否则无法完成任务****/
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int s9_zuo=53,s9_you=182,s9_fuwei=116;
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int s10_xia=173,s10_zhong=125,s10_fang=75;
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int s8_xia=70,s8_zhong=125,s8_fang=165;
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/********************************
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以下函数为小车抖动(电机)函数，理解后也可自行修改
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****************************************/
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void q_h_dou(int n)//前后抖次数
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{
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int speed=70;
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int i;
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for(i=0;i<n;i++)
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{
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M_T(50,speed,speed);
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M_T(70,-speed,-speed);
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}
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msleep(800);
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}
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void servo9_dou(int n)//9号舵机抖
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{
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int speed=70;
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int i;
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for(i=0;i<n;i++)
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{
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S_K(9,s9_zuo,500);S_K(9,s9_you,800);
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S_K(9,s9_fuwei,500);
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//M_T(70,-speed,-speed);
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}
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OSTimeDly(1000);
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}
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/********************************
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以下函数为颜色识别函数，理解后也可自行修改
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红蓝识别函数：ReadColor(1) 返回值：1为红色 2为蓝色
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灰绿识别函数：ReadColor(2) 返回值：3为灰色 4为绿色
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其他颜色可自行修改函数
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****************************************/
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int Read_Color(u8 mode)//
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{
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u8 iii=0;
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int I_R1,I_G1,I_B1,I_C1;
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int I_R2,I_G2,I_B2,I_C2;
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int I_R3,I_G3,I_B3,I_C3;
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int I_R4,I_G4,I_B4,I_C4;
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//红色木块采集RGB值数据
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I_R1 = Read_Addr(900);
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I_G1 = Read_Addr(901);
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I_B1 = Read_Addr(902);
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I_C1 = Read_Addr(903);
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//蓝色木块采集RGB值数据
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I_R2 = Read_Addr(904);
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I_G2 = Read_Addr(905);
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I_B2 = Read_Addr(906);
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I_C2 = Read_Addr(907);
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//灰色木块采集RGB值数据
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I_R3 = Read_Addr(908);
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I_G3 = Read_Addr(909);
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I_B3 = Read_Addr(910);
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I_C3 = Read_Addr(911);
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//绿色木块采集RGB值数据
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I_R4 = Read_Addr(912);
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I_G4 = Read_Addr(913);
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I_B4 = Read_Addr(914);
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I_C4 = Read_Addr(915);
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//木块容差调整，默认为50，可通过主机修改
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RED_V = Read_Addr(916);//红色模块容差调整
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BLUE_V = Read_Addr(917);//蓝色模块容差调整
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HUI_V = Read_Addr(918);//灰色模块容差调整
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GRE_V = Read_Addr(919);//绿色模块容差调整
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OSIntEnter();
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TCS34725_GetRawData_USART(RGB);//颜色数据获取
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OSIntExit();
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while((((RGB[0]>3900)||(RGB[1]>3900)||(RGB[2]>3900)||(RGB[3]>3900))&&(iii<20)))
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{
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iii++;
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OSIntEnter();
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TCS34725_GetRawData_USART(RGB);
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OSIntExit();
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}
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//以上代码无需修改 ////////////////////////
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//RGB[0]:实际读取R值
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//RGB[1]:实际读取G值
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//RGB[2]:实际读取B值
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//RGB[3]:实际读取C值
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if(mode==1)//红蓝识别模式
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{
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if(
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(RGB[0]>(I_R1-100))&&(RGB[0]<(I_R1+100))
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&&(RGB[3]>(I_C1-50 ))&&(RGB[3]<(I_C1+50))
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)return 1;//红色
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else if(
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(RGB[2]>(I_B2-100))&&(RGB[2]<(I_B2+100))
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&&(RGB[3]>(I_C2-50))&&(RGB[3]<(I_C2+50))
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)return 2;//蓝色
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else return 0;
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}
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else if(mode==2)//灰绿识别模式
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{
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if(
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(RGB[0]>(I_R3-50))&&(RGB[0]<(I_R3+50))
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&&(RGB[1]>(I_G3-50))&&(RGB[1]<(I_G3+50))
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&&(RGB[3]>(I_C3-50))&&(RGB[3]<(I_C3+50))
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)return 3;//灰色
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else if(
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(RGB[0]>(I_R4-50))&&(RGB[0]<(I_R4+50))
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&&(RGB[1]>(I_G4-50))&&(RGB[1]<(I_G4+50))
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&&(RGB[3]>(I_C4-50))&&(RGB[3]<(I_C4+50))
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)return 4;//绿色
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else return 0;
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}
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//可自定义其他模式
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}
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/********************************
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以下函数为颜色识别函数，理解后也可自行修改
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其他颜色木块识别函数：ReadColor_other
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返回值：1为颜色1 2为颜色2
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其他颜色可自行修改函数
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****************************************/
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int Read_Color_other(void)
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{
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u8 iii=0;
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int I_R1,I_G1,I_B1,I_C1;
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int I_R2,I_G2,I_B2,I_C2;
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int I_R3,I_G3,I_B3,I_C3;
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int I_R4,I_G4,I_B4,I_C4;
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//色块1 RGBC采集数据值
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I_R1 = Read_Addr(922);
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I_G1 = Read_Addr(923);
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I_B1 = Read_Addr(924);
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I_C1 = Read_Addr(925);
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//色块2 RGBC采集数据值
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I_R2 = Read_Addr(926);
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I_G2 = Read_Addr(927);
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I_B2 = Read_Addr(928);
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I_C2 = Read_Addr(929);
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//色块1、色块2 容差调整
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Color1_V = Read_Addr(930);
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Color2_V = Read_Addr(931);
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OSIntEnter();
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TCS34725_GetRawData_USART(RGB);//颜色数据获取
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OSIntExit();
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while((((RGB[0]>3900)||(RGB[1]>3900)||(RGB[2]>3900)||(RGB[3]>3900))&&(iii<20)))
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{
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iii++;
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OSIntEnter();
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TCS34725_GetRawData_USART(RGB);//颜色数据获取
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OSIntExit();
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}
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//以上代码无需修改 ////////////////////////
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if(
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(RGB[0]>(I_R1-50))&&(RGB[0]<(I_R1+50))
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&&(RGB[1]>(I_G1-50))&&(RGB[1]<(I_G1+50))
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&&(RGB[2]>(I_B1-50))&&(RGB[2]<(I_B1+50))
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&&(RGB[3]>(I_C1-50))&&(RGB[3]<(I_C1+50))
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)return 1;//色块1
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else if(
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(RGB[0]>(I_R2-50))&&(RGB[0]<(I_R2+50))
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&&(RGB[1]>(I_G2-50))&&(RGB[1]<(I_G2+50))
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&&(RGB[2]>(I_B2-50))&&(RGB[2]<(I_B2+50))
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&&(RGB[3]>(I_C2-50))&&(RGB[3]<(I_C2+50))
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)return 2;//色块2
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else return 0;
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}
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/********************************
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以下函数为舵机抖动函数，理解后也可自行修改
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****************************************/
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void duoji_dou(int n)//前后抖次数
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{
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int speed=70;
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int i;
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S_K(10,s10_fang,0);S_K(8,s8_fang,600);
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for(i=0;i<n;i++)
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{
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S_K(10,s10_fang+10,0);S_K(8,s8_fang-10,0);delay_ms(20);
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S_K(10,s10_fang,0);S_K(8,s8_fang,0);delay_ms(20);
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}
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delay_ms(500);
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}
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```
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## 优先运行代码
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```c
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SuDu_motor_Exp1();Com2_Init(115200); //串口初始化
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//Com1_Init(115200);
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// DRIVE(7,2,-4,-7,-10);
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H_LOW(1);//默认高速轨迹
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// DRIVE_CROSS(8,6,1,-2,-4);
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ZHJN_init();//内部代码初始化
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//address_data();
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setTraceIIC(1,4,3);//setTraceIIC(2,4,3);
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Color_tcs34725_Init();
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SPI_OLED_LED_HIGH();
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if(Read_Addr(5)==0||Read_Addr(5)==-1)
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{
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Write_Addr(899,100);Write_Addr(898,100);
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Write_Addr(5,1);
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}
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IIC_servos(9,s9_fuwei);//msleep(200);
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/*舵机测试默认显示值*/
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```
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