避障
int main()
{
unsigned int distance_value;
unsigned char distance_ascii[6];
unsigned char i;
/* 智能车初始化 */
car_init();
while(1)
{
AD_LVBO();
l9110s_forward(left,1800-diff*2.85);
l9110s_forward(right,1800+diff*2.85);
distance_value = ultra_get_distance(); //超声波模块测距
int_to_ascii(distance_value, distance_ascii); //将测得距离转换为ascii码
uart_send_distance_ascii(distance_ascii); //串口发送测得的距离
Delay_Ms(400);
if(distance_value<400)
{
car_stop();
//diff=3000*(LAD-500-MAD)/(LAD+MAD);
}
else
{
l9110s_forward(left,1800-diff*2.85);
l9110s_forward(right,1800+diff*2.85); //diff=4000*(LAD-RAD)/(LAD+RAD+MAD);
}
}