ECEN404_MCU:高级设计项目的MCU代码

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  • 2022-04-10 11:02
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ECEN404_MCU 高级设计项目的MCU代码 自述文件过期添加了一些导航代码。 即将更新 该项目使用的PIC32MZ-2048-EFH-144微控制器上使用的代码。 待办事项:从josh获取区域规范并配置警报引脚。 从josh(逗号,空格等)获取最终消息格式,在何处以及是否放置它们。 包括正面和侧面的障碍物检测以及GPS。 是要包括警报针。 如果物体在指定距离内,或者割草机在指定距离内侧面的物体上闭合,则销钉将设置为高电平。 尚未实施,因为我们正在等待乔什和航海的区域界限。 前障碍物检测:代码触发并读取5个传感器的阵列,对准割草机的前部。 然后,它确定哪个传感器返回最短距离,以及该传感器位于割草机的哪一侧(左,右或中心)。 然后,它通过UART报告到对象的最短距离,以及对象所在的割草机的侧面。 所有方向均以割草机的驱动方向为参考(即,坐在割草机前部的观察者所看的方向)。此处使用
ECEN404_MCU-main.zip
  • ECEN404_MCU-main
  • Wifi_Nav_v1.31.ino
    28.9KB
  • sensor_read.c
    18.2KB
  • app-debug.apk
    5MB
  • capstone.c
    15.4KB
  • NAV_CODE_Lesser_edit_2.ino
    20KB
  • README.md
    1.8KB
  • NAV_CODE_Timers.ino
    3.4KB
  • ObjectDetect.h
    2.8KB
  • sensor_read.h
    5.9KB
  • ObjectDetect.c
    51KB
  • NAV_CODE_Josh_Original.ino
    22.1KB
  • NAV_CODE_lesser_edit_ODET2.ino
    30.1KB
  • main.c
    6.4KB
内容介绍
# ECEN404_MCU MCU code for senior desgin project README OUT OF DATE some nav code added. will update soon Code for use on the PIC32MZ-2048-EFH-144 Microcontroller used for this project. TODO: get region specifiactions from josh and configure alert pin. Get final message format from josh ( commas, whitespaces, <CR><LF>) where and if to put them. Includes obstacle detection for front and side, as well as GPS. Is to include alert pin. Pin will set high if an object is within a specified distance, or if the mower is closing on an object on the side within a specifed distance. Not yet implemented, as we are awaiting the region bounds from josh and navigation. Front Obstacle detection: Code triggers and read array of 5 sensors, aimed towards the front of the mower. It then determines which senser returns the shortest distance, and what side of the mower this sensor is on (left, right or center). It then reports out, via UART, the shortest distance to the object, as well as the side of the mower the object is on. All directions are referenced to the drive direction of the mower (ie the direction an observer sitting on the front of the mower would look) All distances used herein are in cm. Side detection: works similar to front, as that it triggers all it's sensors, and then reads the distances. Uses only 2 sensors. One towards the front of the mower, and one towards the rear. It gets distances from both, and then calcualtes the minimum distance to an object on the left side of the mower, as well as if the mower is closing to that object, or moving away from it. Reports out, via UART, minimum distance, as well as closing/not closing. GPS Configures GPS module to send RMC type nema sentence every second. Parses that sentence for lattitude, longitude, course and speed. Reports all out via UART
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