晰明 2019-10-04 19:12 采纳率: 0%
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求助：利用luby控制器，无法接收到传感器模拟值（仿人自主格斗机器人），机械结构检查了，没有问题

机械结构如图所示，上面有标注AD号，就是接收不到传感器的模拟值，但是软开关使用没有问题，证明传感器是好的，只是在开始的时候能用一下，但是后面传感器的值好像都是0。求大佬指一下名路，调几天了，还是没有头绪，编译环境用的是keil5,。以下附上代码。

图片说明图片说明图片说明图片说明图片说明图片说明

#include"UPLib\UP_System.h"
int AD0=0; //头部红外测距传感器
int AD1=0; //灰度传感器
int AD2=0; //后左红外测距传感器
int AD3=0; //后红外测距传感器
int AD4=0; //前斜下红外测距传感器
int AD5=0; //右红外测距传感器
int AD6=0; //前红外测距传感器
int AD7=0; //倾角红外测距传感器
int AD8=0; //前右红外测距传感器

int nh=0;
int nq=0;
int k=0;
int r=0;
int m=0;

int nLastLeft=0;
int nLastRight=0;
int nStand=0;
int nEdge=0；

void Move(int inLeft, int inRight)//定义移动
{
UP_CDS_SetSpeed(12, -inLeft*0.6);
UP_CDS_SetSpeed(11, inRight*0.6);
//MFServoAction();
nLastLeft = inLeft;
nLastRight = inRight;

}

unsigned char SStand() //检测机器人是否倒地
{ int AD7=0;
AD7 =UP_ADC_GetValue(7);
if((AD7>1712)&&(AD7<2512))
{
return 1; //stand up
}

else if (AD7<1312)
{
    return 2;       //qiandao
}
else if (AD7>2912)
{
    return 3;       //houdao
}
else
{
    return 0;       //zhengchang
}

}

unsigned char Edge()
{
int AD1 = 0; //huidu diastimeter
int AD2 = 0; //back left diastimeter
int AD3 = 0; //back diastimeter
int AD4 = 0; //back down diastimeter
int AD5 = 0; //right diastimeter
int AD6 = 0; //forward diastimeter
int AD7 = 0; //MC-8 incline
int AD8 = 0; //rightforward diastimeter
AD1=UP_ADC_GetValue(1);
AD2=UP_ADC_GetValue(2);
AD3=UP_ADC_GetValue(3);
AD4=UP_ADC_GetValue(4);
AD5=UP_ADC_GetValue(5);
AD6=UP_ADC_GetValue(6);
AD7=UP_ADC_GetValue(7);
AD8=UP_ADC_GetValue(8);
//if((AD4400))
if((AD4>700)&&(AD1>400))// no margin
{
AD1=UP_ADC_GetValue(1);
AD2=UP_ADC_GetValue(2);
AD3=UP_ADC_GetValue(3);
AD4=UP_ADC_GetValue(4);
AD5=UP_ADC_GetValue(5);
AD6=UP_ADC_GetValue(6);
AD7=UP_ADC_GetValue(7);
AD8=UP_ADC_GetValue(8);
if((AD1>500)||(AD4>400))//forward no opponent
{
return 1;
}
else if(AD5 {
return 1;
}
else if(AD3 {
return 1;
}
else if(AD2 {
return 1;
}
else if(AD8>600)//forward opponent
{
return 7;
}
else if(AD5>800)//right opponent
{
return 4;
}
else if((AD2>600)&&(AD3>800))//back opponent
{
return 6;
}
else if(AD2>800)//left opponent
{
return 5;
}
else
{
return 1;
}
}

// {
// return 1;
// }
// else if((AD5700)||(AD1>500)))//left no opponent and no margin
// {
// return 1;
// }
// else if((AD3700)||(AD1>500)))//back no opponent and no margin
// {
// return 1;
// }
// else if((AD2700)||(AD1>500)))//leftback no opponent and no margin
// {
// return 1;
// }
else if((AD1 {
if((AD6 {
return 2;
}
else
{
return 0;
}
}
// else if(AD8>600)//forward opponent
// {
// return 7;
// }
// else if(AD5>800)//right opponent
// {
// return 4;
// }
// else if((AD2>600)||(AD3>800))//back opponent
// {
// return 6;
// }
// else if((AD2>800)||(AD8>800))//left opponent
// {
// return 5;
// }
else if((AD4>800)&&(AD1<500))//forward margin
{
return 2;
}
else

{
return 0;//normal
}

}

void DefaultAction() //stand up
{
UP_CDS_SetAngle(1, 480, 400);
UP_CDS_SetAngle(2, 250, 400);
UP_CDS_SetAngle(3, 325, 400);
UP_CDS_SetAngle(4, 527, 400);
UP_CDS_SetAngle(5, 522, 400);
UP_CDS_SetAngle(6, 541, 400);
UP_CDS_SetAngle(7, 560, 400);
UP_CDS_SetAngle(8, 705, 400);
UP_CDS_SetAngle(9, 210, 400);
UP_CDS_SetAngle(10, 529, 400);
//MFServoAction();

}
void Sit()//sit down
{
UP_CDS_SetAngle(1, 812, 400);
UP_CDS_SetAngle(2, 323, 400);
UP_CDS_SetAngle(3, 695, 400);
UP_CDS_SetAngle(4, 82, 400);
UP_CDS_SetAngle(5, 182, 400);
UP_CDS_SetAngle(6, 876, 400);
UP_CDS_SetAngle(7, 997, 400);
UP_CDS_SetAngle(8, 339, 400);
UP_CDS_SetAngle(9, 284, 400);
UP_CDS_SetAngle(10,874, 400);
}
void StandA()//qiandao
{
UP_CDS_SetAngle(1, 865, 512);
UP_CDS_SetAngle(2, 287, 512);
UP_CDS_SetAngle(3, 711, 512);
UP_CDS_SetAngle(8, 345, 512);
UP_CDS_SetAngle(9, 294 ,512);
UP_CDS_SetAngle(10,876, 512);
UP_CDS_SetAngle(4, 84, 512);
UP_CDS_SetAngle(5, 180, 512);
UP_CDS_SetAngle(6, 867, 512);
UP_CDS_SetAngle(7, 992, 512); //?????(????)?????
UP_delay_ms(500);
UP_CDS_SetAngle(1, 690, 512);
UP_CDS_SetAngle(2, 431, 1000);
UP_CDS_SetAngle(3, 469, 1000);
UP_CDS_SetAngle(8, 345, 512);
UP_CDS_SetAngle(9, 415,1000);
UP_CDS_SetAngle(10, 481,1000);//??????,????????
UP_delay_ms(1000);
Move(-100,-5100);//??????
UP_CDS_SetAngle(1, 865, 512);
UP_CDS_SetAngle(2, 287, 512);
UP_CDS_SetAngle(3, 711, 512);
UP_CDS_SetAngle(8, 345, 512);
UP_CDS_SetAngle(9, 294 ,512);
UP_CDS_SetAngle(10, 876, 512); //??????
}
void StandB()//houdao
{
UP_CDS_SetAngle(1, 865, 512);
UP_CDS_SetAngle(2, 287, 512);
UP_CDS_SetAngle(3, 711, 512);
//?????(????)?????
UP_CDS_SetAngle(4, 84, 512);
UP_CDS_SetAngle(5, 180, 512);
UP_CDS_SetAngle(6, 867, 512);
UP_CDS_SetAngle(7, 992, 512); //?????(????)?????
UP_CDS_SetAngle(8, 345, 512);
UP_CDS_SetAngle(9, 294 ,512);
UP_CDS_SetAngle(10, 876, 512);
UP_delay_ms(500);
UP_CDS_SetAngle(1,789, 512);
UP_CDS_SetAngle(2, 930, 512);
UP_CDS_SetAngle(9, 848, 512);
UP_CDS_SetAngle(10,876, 512);//?????????
UP_delay_ms(1000);
UP_CDS_SetAngle(3, 64, 512);
UP_CDS_SetAngle(8, 944, 512);//??????
UP_delay_ms(500);
UP_CDS_SetAngle(1, 699, 512);
UP_CDS_SetAngle(2, 461, 512);
UP_CDS_SetAngle(9,417, 512);
UP_CDS_SetAngle(10,754, 512);
//?????????
UP_delay_ms(1500);
UP_CDS_SetAngle(4, 216, 512);
UP_CDS_SetAngle(7, 862, 512);//?????
UP_delay_ms(500);
UP_CDS_SetAngle(4,457, 512);
UP_CDS_SetAngle(12, 616, 512);//?????????
UP_delay_ms(1000);
UP_CDS_SetAngle(4, 84, 512);
UP_CDS_SetAngle(7,962, 512);//??
UP_delay_ms(1000);
UP_CDS_SetAngle(1, 865, 812);
UP_CDS_SetAngle(2, 287, 512);
UP_CDS_SetAngle(3, 711, 512);
UP_CDS_SetAngle(8, 345, 812);
UP_CDS_SetAngle(9, 294, 512);
UP_CDS_SetAngle(10, 876, 512);//???
UP_delay_ms(1000);
Move(-100,-5100);//??????
}
void Attack1()//attack left opponent
{
UP_CDS_SetAngle(1, 843, 512);
UP_CDS_SetAngle(2, 288, 512);
UP_CDS_SetAngle(3, 712, 512);
UP_CDS_SetAngle(4, 82, 512);
UP_CDS_SetAngle(5, 180, 512);
UP_CDS_SetAngle(6, 870, 512);
UP_CDS_SetAngle(7, 1000, 512);
UP_CDS_SetAngle(8, 518, 512);
UP_CDS_SetAngle(9, 560, 512);
UP_CDS_SetAngle(10, 512, 512);

}
void Attack2()//attack right opponent
{
    UP_CDS_SetAngle(1, 490, 512);
    UP_CDS_SetAngle(2, 526, 512);
    UP_CDS_SetAngle(3, 458, 512);
    UP_CDS_SetAngle(4, 82, 512);
    UP_CDS_SetAngle(5, 180, 512);
    UP_CDS_SetAngle(6, 870, 512);
    UP_CDS_SetAngle(7, 1000, 512);
    UP_CDS_SetAngle(8, 339, 512);
    UP_CDS_SetAngle(9, 273, 512);
    UP_CDS_SetAngle(10, 892, 512);

}
void Attack3()//attack forword opponent
{
    UP_CDS_SetAngle(1, 490, 512);
    UP_CDS_SetAngle(2, 664, 512);
    UP_CDS_SetAngle(3, 718, 512);
    UP_CDS_SetAngle(4, 82, 512);
    UP_CDS_SetAngle(5, 180, 512);
    UP_CDS_SetAngle(6, 870, 512);
    UP_CDS_SetAngle(7, 1000, 512);
    UP_CDS_SetAngle(8, 310, 512);
    UP_CDS_SetAngle(9, 627, 512);
    UP_CDS_SetAngle(10, 550, 512);

}
void Attack4()//attack back opponent
{
    UP_CDS_SetAngle(1, 519, 512);
    UP_CDS_SetAngle(2, 501, 512);
    UP_CDS_SetAngle(3, 48, 512);
    UP_CDS_SetAngle(4, 82, 512);
    UP_CDS_SetAngle(5, 180, 512);
    UP_CDS_SetAngle(6, 870, 512);
    UP_CDS_SetAngle(7, 1000, 512);
    UP_CDS_SetAngle(8, 991, 512);
    UP_CDS_SetAngle(9, 490, 512);
    UP_CDS_SetAngle(10, 547, 512);

}
void Attack5()//attack intersect 1
{
    UP_CDS_SetAngle(1, 831, 512);
    UP_CDS_SetAngle(2, 291, 512);
    UP_CDS_SetAngle(3, 712, 512);
    UP_CDS_SetAngle(4, 82, 512);
    UP_CDS_SetAngle(5, 180, 512);
    UP_CDS_SetAngle(6, 870, 512);
    UP_CDS_SetAngle(7, 1000, 512);
    UP_CDS_SetAngle(8, 354, 512);
    UP_CDS_SetAngle(9, 634, 512);
    UP_CDS_SetAngle(10, 559, 512);

}
void Attack6()//attack intersect 2
{
    UP_CDS_SetAngle(1, 525, 512);
    UP_CDS_SetAngle(2, 667, 512);
    UP_CDS_SetAngle(3, 731, 512);
    UP_CDS_SetAngle(4, 82, 512);
    UP_CDS_SetAngle(5, 180, 512);
    UP_CDS_SetAngle(6, 870, 512);
    UP_CDS_SetAngle(7, 1000, 512);
    UP_CDS_SetAngle(8, 324, 512);
    UP_CDS_SetAngle(9, 294, 512);
    UP_CDS_SetAngle(10, 900, 512);
}
    void Attack7()//attack back opponent
    {
            UP_CDS_SetAngle(1, 949, 512);
    UP_CDS_SetAngle(2, 224, 512);
    UP_CDS_SetAngle(3, 55, 512);
    UP_CDS_SetAngle(4, 82, 512);
    UP_CDS_SetAngle(5, 180, 512);
    UP_CDS_SetAngle(6, 870, 512);
    UP_CDS_SetAngle(7, 1000, 512);
    UP_CDS_SetAngle(8, 966, 512);
    UP_CDS_SetAngle(9, 481, 512);
    UP_CDS_SetAngle(10, 551, 512);
        UP_delay_ms(500);
            UP_CDS_SetAngle(1, 500, 512);
    UP_CDS_SetAngle(2, 511, 512);
    UP_CDS_SetAngle(3, 56, 512);
    UP_CDS_SetAngle(4, 82, 512);
    UP_CDS_SetAngle(5, 180, 512);
    UP_CDS_SetAngle(6, 870, 512);
    UP_CDS_SetAngle(7, 1000, 512);
    UP_CDS_SetAngle(8, 984, 512);
    UP_CDS_SetAngle(9, 176, 512);
    UP_CDS_SetAngle(10, 900, 512);
    }

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int main(void)
{
UP_System_Init(); //3?ê??¯

// MFSetPortDirect(0x0f00); //éè??IO·??ò
// DelayMS(3000); //?óê±3??
// MFInitServoMapping(&SERVO_MAPPING[0], 12);

UP_CDS_SetMode(11,CDS_MOTOMODE);        //定义舵机模式（舵机模式和电机模式）
UP_CDS_SetMode(12,CDS_MOTOMODE);

UP_CDS_SetMode(3,CDS_SEVMODE);
UP_CDS_SetMode(4,CDS_SEVMODE);
UP_CDS_SetMode(5,CDS_SEVMODE);
UP_CDS_SetMode(6,CDS_SEVMODE);
UP_CDS_SetMode(7,CDS_SEVMODE);
UP_CDS_SetMode(8,CDS_SEVMODE);
UP_CDS_SetMode(1,CDS_SEVMODE);
UP_CDS_SetMode(2,CDS_SEVMODE);
UP_delay_ms(100);
//int nStand = 0;
//int nEdge = 0;

DefaultAction();            //初始动作
UP_delay_ms(800);

//MFServoAction();
while (1)//软开关，开启机器人
{
    AD5=UP_ADC_GetValue(5);
    if (AD5>1200)
    {Sit();
UP_delay_ms(800);
        break;
    }
    UP_delay_ms(50);
}
Move(700, 800);//dengtai
UP_delay_ms(1400);
Move(600, 800);
UP_delay_ms(1500);

while (1)
{
    nStand=SStand();//?ì2a×?éí×'ì?
    switch (nStand)
    {
    case 1: //
        nEdge=Edge();//?ì2a×?éí????
        switch (nEdge)
        {
        case 1: //?TµDè??T±??µ
            k++;
            if(k>350)
            {
                Move(500, -500);
                UP_delay_ms(50);
                k = 0;
            }
            else
            {
                Move(500,500);
                UP_delay_ms(10);
            }
            Sit();
            break;
        case 2: //
            r++;
            if(r<4)
            {
                Move(350,350);
                UP_delay_ms(50);
                Move(600,-600);
                UP_delay_ms(600);
                Move(0,0);
                UP_delay_ms(10);
                Sit();
                UP_delay_ms(10);
            }
            else if((r>3)&&(r<9))
            {
                Move(350, 350);
                UP_delay_ms(500);
                Move(-600, 600);
                UP_delay_ms(300);
                Move(0, 0);
                UP_delay_ms(10);
                Sit();
                UP_delay_ms(50);
            }
            else if(r>12)
            {
                r=0;
            }
            else
            {
                Move(350, 350);
                UP_delay_ms(500);
                Move(700, -700);
                UP_delay_ms(500);
                Move(0, 0);
                UP_delay_ms(10);
                Sit();
                UP_delay_ms(50);
            }

// if((AD1<800)&&(AD4<800))
// {
// Move(-500,500);
// UP_delay_ms(500);
// Move(800,800);
// UP_delay_ms(800);
// Attack2();
// UP_delay_ms(100);
// }
// else if((810<AD1)&&(AD1<1000))
// {
// Move(-500,500);
// UP_delay_ms(500);
// Attack1();
// UP_delay_ms(100);
// }
// else
// {
// Move(800,800);
// UP_delay_ms(200);
// Sit();
// UP_delay_ms(10);
// }
// 

            break;
        case 4: //right opponent

        AD1=UP_ADC_GetValue(1); 
        AD3=UP_ADC_GetValue(3);
        AD6=UP_ADC_GetValue(6);
        AD8=UP_ADC_GetValue(8);
        AD5=UP_ADC_GetValue(5);
        Move(600,-600);
        UP_delay_ms(1000);
            if((AD5>500)||((AD6>320)&&(AD5>320)))
            {

                UP_delay_ms(10);
                Attack1();
                UP_delay_ms(400);
                Attack3();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Move(-500,-500);
                Sit();
                UP_delay_ms(50);
            }
            else
            {
                Move(-300, -300);
                UP_delay_ms(200);
                Move(400, -400);
                UP_delay_ms(200);
                Sit();
                UP_delay_ms(50);
            }

        break;
        case 5: //left opponent
                Move(-700, 700);
                UP_delay_ms(500);
                Move(-400, -400);
                UP_delay_ms(350);
                Move(0, 0);
                UP_delay_ms(10);
                Sit();
                UP_delay_ms(50);
                AD2=UP_ADC_GetValue(2);
                AD8=UP_ADC_GetValue(8);
                if((AD2>400)||(AD8>320))
                {
                    Attack2();
                    UP_delay_ms(400);
                    Attack3();
                    UP_delay_ms(400);
                    Move(800, 800);
                    UP_delay_ms(10);
                    Attack2();
                    UP_delay_ms(400);
                    Move(0, 0);
                    Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(400);
                Attack5();
                UP_delay_ms(400);
                Attack6();
                UP_delay_ms(50);
                Sit();
                UP_delay_ms(50);
                }
                else
                {
                    Move(-300, -300);
                    UP_delay_ms(200);
                    Move(400, -400);
                    UP_delay_ms(200);
                    Sit();
                    UP_delay_ms(50);
                }
            break;
        case 7: 
            m++;
            Move(-500, -400);
            UP_delay_ms(900);
            Sit(); //ready attack
            UP_delay_ms(100);
            Move(500, 500);
            UP_delay_ms(300);
            Move(300, 300);
            UP_delay_ms(500);
            Sit();
            UP_delay_ms(50);
            AD8=UP_ADC_GetValue(8);
            AD4=UP_ADC_GetValue(4);
            AD6=UP_ADC_GetValue(6);

if(((AD4>800)||(AD6>320)||(AD8>480))&&(m==1))
/////////////if((AD6>320)||(AD3>480)))&&(m==1))
{
Move(300, 300);
UP_delay_ms(50);
Sit();
UP_delay_ms(500);
Move(300,300);
UP_delay_ms(100);
Attack3();
UP_delay_ms(1000);
Attack2();
UP_delay_ms(400);
Attack5();
UP_delay_ms(500);
Attack6();
UP_delay_ms(500);
Attack5();
UP_delay_ms(500);
Attack6();
UP_delay_ms(500);
Attack5();
UP_delay_ms(500);
Attack6();
UP_delay_ms(500);
Move(-500, -400);
UP_delay_ms(800);
Move(0, 0);
UP_delay_ms(10);
Sit();
UP_delay_ms(50);
m=0;
}
else
{
Move(100, 100);
UP_delay_ms(200);
Move(0, 0);
UP_delay_ms(200);
Move(-300, -300);
UP_delay_ms(200);
Move(400, -400);
UP_delay_ms(200);
Sit();
UP_delay_ms(50);
m=0;
}

            break;
        case 6:
            Move(600,600);
        UP_delay_ms(300);
        Move(400,400);
        UP_delay_ms(200);
            UP_CDS_SetAngle(1, 949, 512);
    UP_CDS_SetAngle(2, 244, 512);
    UP_CDS_SetAngle(3, 55, 512);
    UP_CDS_SetAngle(8, 996, 512);
    UP_CDS_SetAngle(9, 176, 512);
    UP_CDS_SetAngle(10, 989, 512);
        Move(-400,-400);
        UP_delay_ms(400);
        Attack7();
        UP_delay_ms(1000);
        Attack7();
        UP_delay_ms(1000);
        Attack7();
        UP_delay_ms(1000);
        Attack7();
        UP_delay_ms(1000);
        Move(-500,-500);
        UP_delay_ms(300);
        Move(-300,-300);
        UP_delay_ms(200);
        Move(400,400);
        UP_delay_ms(800);
        Sit();
        UP_delay_ms(500);
        break;
        }
        break;
    case 2: 
        nq++;
        if(nq==6)
        {
            Move(0, 0);
            UP_delay_ms(100);
            Sit();
            UP_delay_ms(800);
            StandA();
            UP_delay_ms(2000);
            Sit();
            UP_delay_ms(50);
            nq=0;
        }
        else
        {
            UP_delay_ms(40);
        }
        break;
    case 3: //houdao
        nh++;
        if (nh==6)
        {
            Move(0, 0);
            UP_delay_ms(100);
            Sit();
            UP_delay_ms(800);
            StandB();
            UP_delay_ms(2000);
            Sit();
            UP_delay_ms(50);
            nh=0;
        }
        else
        {
            UP_delay_ms(50);
        }
        break;
    case 0:

        Move(400,400);
        UP_delay_ms(400);
        Move(200,300);
        UP_delay_ms(200);
        Move(0,0);
        UP_delay_ms(10);
        Sit();
    Attack2();
        UP_delay_ms(100);

        if(AD1>800)
        {
            Move(-500,500);
        UP_delay_ms(400);
        Move(800,800);
        UP_delay_ms(300);
            Move(-400,400);
            UP_delay_ms(500);
            Move(0,0);
            UP_delay_ms(50);
            Sit();
            Attack1();
        UP_delay_ms(100);
        }
        else if(AD1<800)
        {
            Move(800,700);
            UP_delay_ms(400);
            Attack5();
            UP_delay_ms(200);
            Attack6();
            UP_delay_ms(200);
            Attack5();
            UP_delay_ms(200);
            Attack6();
            UP_delay_ms(200);
            Attack5();
            UP_delay_ms(200);
            Attack6();
            UP_delay_ms(200);
            Sit();
        UP_delay_ms(100);
        }
        else
        {
            Sit();
            UP_delay_ms(10);
        }
        break;

}

}
}

  • 写回答

1条回答 默认 最新

  • dabocaiqq 2019-10-04 23:42
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    http://jz.docin.com/p-1692963310.html

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