项目所需的硬件也都分别的调试通了，主要用到了Rico Board 的GPIO、外部中断、高精度定时器、定时器，还有额外的一个PWM转DA输出的硬件电路。 整个系统结构如下所示： 上图，也列出来了，是用到的GPIO管脚编号。 编写的用户空间的程序如下所示：
- #include
- #include
- #include
- #include
- #include
- #include
- typedef enum
- {
- false,true
- }bool;
- #define PT2262_PATH "/dev/input/event1"
- #define RADAR_PATH "/dev/radar0"
- #define MOTOR_PATH "/dev/motor0"
- #define MOTOR_F 1500
- #define MOTOR_L 1000
- #define MOTOR_R 2000
- #define DIRECtiON_NUM 1
- int fd_mada[4],fd_pt2262,fd_radar,fd_motor;
- int motor_f = MOTOR_F;
- int motor_l = MOTOR_L;
- int motor_r = MOTOR_R;
- int direction_num = DIRECTION_NUM+1;
- bool robot_mode = false;
- int wt_mada(int *fd, int *value)
- {
- int i,ret;
- char value_buf[8];
- for(i=0; i<4; i++)
- {
- sprintf(value_buf, "%d", value[i]);
- //printf("mada_value[%d]:%sn",i,value_buf);
- ret = write(fd[i],value_buf,strlen(value_buf));
- if(ret < 0)
- goto fail;
- }
- return ret;
- fail:
- printf("write failed.n");
- return ret;
- }
- int wt_motor(int fd, int value)
- {
- char value_buf[8];
- int ret;
- sprintf(value_buf, "%d", value);
- ret = write(fd, value_buf, strlen(value_buf));
- return ret;
- }
- int get_direction(void)
- {
- char value_left[8];
- char value_right[8];
- int value_l,value_r,ret;
- char value[8];
- sprintf(value, "%d", motor_l);
- write(fd_motor, value, strlen(value));
- sleep(1);
- memset(value_left, 0, sizeof(value_left));
- memset(value_right, 0, sizeof(value_right));
- ret = read(fd_radar, value_left, sizeof(value_left));
- if(ret < 0)
- {
- printf("get_direction left err.n");
- goto fail;
- }
- else
- {
- value_l = atoi(value_left);
- //printf("int value_l is %d.n", value_l);
- //printf("n************************char value_l is %s.n", value_left);
- }
- sprintf(value, "%d", motor_r);
- write(fd_motor, value, strlen(value));
- sleep(1);
- //printf("motor_r is %s.n", value);
- ret = read(fd_radar, value_right, sizeof(value_right));
- if(ret < 0)
- {
- printf("get_direction right err.n");
- goto fail;
- }
- else
- {
- value_r = atoi(value_right);
- //printf("value_r is %s.n", value_right);
- }
- ret = (value_r > value_l) ? motor_r : motor_l;
-
- fail:
- printf("n**********************************return is %d.n", ret);
- return ret;
- }
- void paulse(void)
- {
- int mada_value_tmp[4];
- mada_value_tmp[0]=1;mada_value_tmp[1]=1;mada_value_tmp[2]=1;mada_value_tmp[3]=1;
- wt_mada(fd_mada, mada_value_tmp);
-
- }
- int main(int argc,char * * argv)
- {
- char path_tmp[16];
- char length_buf[16];
-
- int ret,i,j,mada_value[4],length;
- struct input_event event;
- ret = open(PT2262_PATH, O_RDWR|O_NONBLOCK);
- if(ret < 0)
- goto fail1;
- else
- fd_pt2262 = ret;
- ret = open(MOTOR_PATH, O_RDWR);
- if(ret < 0)
- goto fail2;
- else
- fd_motor = ret;
- ret = open(RADAR_PATH, O_RDWR);
- if(ret < 0)
- goto fail3;
- else
- fd_radar= ret;
-
- for(i=0;i<4;i++)
- {
- sprintf(path_tmp, "/dev/mada%d", i);
- ret = open(path_tmp, O_RDWR);
- if(ret < 0)
- goto fail4;
- fd_mada[i] = ret;
- }
- while(1)
- {
- read(fd_pt2262, &event, sizeof(struct input_event));
- if((event.value == 1)&&(event.type == EV_KEY)&&(event.code == 0x0f))
- {
- robot_mode = !robot_mode;//切换工作模式
- }
- if((event.value == 1)&&(event.type == EV_KEY)&&(robot_mode == true))
- {
- wt_motor(fd_motor,MOTOR_F);
- switch(event.code)
- {
- case 0x10:
- mada_value[0]=1;mada_value[1]=999;mada_value[2]=1;mada_value[3]=999;break;
- case 0x12:
- mada_value[0]=1;mada_value[1]=999;mada_value[2]=999;mada_value[3]=1;break;
- case 0x13:
- mada_value[0]=999;mada_value[1]=1;mada_value[2]=1;mada_value[3]=999;break;
- case 0x11:
- mada_value[0]=1;mada_value[1]=1;mada_value[2]=1;mada_value[3]=1;break;
- default:
- break;
- }
- wt_mada(fd_mada, mada_value);
- }
- else if(robot_mode == false)
- {
- memset(length_buf,0,sizeof(length_buf));
- ret = read(fd_radar,length_buf,sizeof(length_buf));
- if(ret < 0)
- {
- printf("read radar failed.n");
- goto fail4;
- }
- //printf("read length is %s.n",length_buf);
- length = atoi(length_buf);
- if(length < 50)
- {
- ret = get_direction();
- if(ret == motor_r)
- {
- mada_value[0]=999;mada_value[1]=1;mada_value[2]=1;mada_value[3]=999;wt_mada(fd_mada, mada_value);
- }
- else if(ret == motor_l)
- {
- mada_value[0]=1;mada_value[1]=999;mada_value[2]=999;mada_value[3]=1;wt_mada(fd_mada, mada_value);
- }
- else
- {
- printf("valid get_direction return.n");
- }
- sleep(1);
- }
- else
- {
- wt_motor(fd_motor,MOTOR_F);
- mada_value[0]=1;mada_value[1]=999;mada_value[2]=1;mada_value[3]=999;wt_mada(fd_mada, mada_value);
- }
- }
- printf("robot_mode is %d.n", robot_mode);
- }
-
- fail4:
- printf("fd_radar err.n");
- close(fd_radar);
- for(j=0; j
- {
- close(fd_mada[j]);
- }
- fail3:
- printf("fd_motor err.n");
- close(fd_motor);
- fail2:
- printf("fd_pt2262 err.n");
- close(fd_pt2262);
- fail1:
- return ret;
- }
对应的按键的功能呢个如下： 其中，前进、停止、左转、右转都是在遥控模式下使用的，电视键起到遥控模式和自主避障两种模式之间的切换。自主避障模式下，前方的舵机会自动旋转带动雷达，探测两侧到障碍物的距离信息，完成避障。
对应的，我录制了模拟的演示的视频（包含两种模式，极其切换过程）：
以及两种模式下的运动视频（还是接的5v电源，所以只是在我的桌子上运动了下，权当作演示了）： 自主导航避障模式：
遥控模式：
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