struct car *
make_ford() {
struct ford * f = (struct ford *) malloc( sizeof( struct ford ));
car_init( &f->base );
f->base.change_gears = ford_change_gears;
f->ford_serial_number = next_ford_serial_number++;
}
int main(void){
sys_init(); //配置系统时钟72M(包括clock, PLL and Flash configuration)
delay_init();//初始化延时
uart1_init(72,9600);
uart2_init(36,9600);//时钟为最高时钟的一半
// uart3_init(36,9600);//时钟为最高时钟的一半
led_init();
car_init();
jtag_set(2);//禁止JTAG,释放PB3,PA15
Steering_Init();
uart_printf("ok\r\n");
hwbz_init();
power_init();
while(1){
cmd_handle();
};
return 0;
}
void main(){
car_init();
while(1){
sensor_accelerator_read();
sensor_accelerator_calculate();
sensor_electromagnet_read();
angle_control(0);
// Speed_R=10;Speed_L=10;
float OutData[4];
OutData[0] = angle;
//OutData[1] = angle_accZ;
OutData[2] = 3 ;
OutData[3] = 4;
//vcan_sendware((uint8_t *)OutData,sizeof(OutData));
print_fraction(angle);
}
}
void main1(void)
{
OLED_Init();
OLED_Fill(0x00);//黑屏
car_init();
OLED_P8x16Str(5,0,"test");
//setup();
//sd_read();
while(1){
sensor_accelerator_read();
sensor_accelerator_calculate();
char buffer [100] ;
float OutData[1];
// OutData[0]=angle;
// vcan_sendware((char *)OutData,sizeof(OutData));
sprintf(buffer,"%d",(int)angle);
//OLED_P8x16Str(5,0," ");
//OLED_P8x16Str(6,0,buffer);
//motor_left_pid(1);
//motor_right_pid(0);
angle_control(20);
//sensor_electromagnet_read();
//printf("%lld\n",electromagnet_L6);
}
}
int main(){
//setup log file
fpLog = fopen("log.txt", "w");
if(fpLog == NULL){
printf("Failed to open log file\n");
}
//seed random
srand(time(NULL));
//set up frame limiting
clock_t s_cycle, e_cycle;
s_cycle = clock(); //get amount of time to init game
fprintf(fpLog, "Initializing...\n"); //log
allegro_init_install(); //allegro inits
Game game;
game_init(&game); //initialize game struct
TMX_map map;
load_map(&game, &map); //load first map
Sprite player, car;
player_init(&game, &player, &map); //initialize player struct
car_init(&game, &car, &map, 32, 32, 5); //initialize car struct
gen_npcs(&game, &map); //generate and initialize npcs
e_cycle = clock();
//get length of initialization
fprintf(fpLog, "Initialization done in %f seconds.\n",
(double)(e_cycle - s_cycle) / 1000);
//show instructions on how to play
display_instructions(&game);
//set active sprite
game.active_sprite = &player;
fprintf(fpLog, "Beginning main loop.\n");
while(game.running){
//to limit frames we have a set refresh rate
//to maintain this refresh rate we subtract the
//time elapsed over the entire cycle
//to do this we get the time at the start of the cycle
//and the end to get the difference
s_cycle = clock();
//exit sequence
exit_sequence(&game);
//check if we enter the car
enter_car(&game, &player, &car, &map);
//toggle debugging
if(key[KEY_F1] && !game.debug_cd){
game.debug = !game.debug;
printf(game.debug ? "DEBUGGING ENABLED\n" : "DEBUGGING DISABLED\n");
game.debug_cd = 10;
}else{
game.debug_cd -= game.debug_cd ? 1 : 0;
}
//resets game
if(key[KEY_F5]){
game_init(&game);
load_map(&game, &map);
player_init(&game, &player, &map); //initialize player struct
car_init(&game, &car, &map, 32, 32, 5);
gen_npcs(&game, &map);
}
//toggle music
if(key[KEY_M]){
game.music ? stop_sample(game.bgMusic) :
play_sample(game.bgMusic, 255, 128, 1000, 1);
}
//clear buffer
clear_to_color(game.buffer, makecol(0, 0, 0));
//show map
masked_blit(map.map, game.buffer, game.cam_x, game.cam_y,
0, 0, game.screen_w, game.screen_h);
//pan camera
pan_camera(&game);
//do mouse click
mouse_click(&game, game.active_sprite);
npc_sequence(&game, &map);
//display the player if we're not in the car
if (!game.in_car){
sprite_sequence(&game, &player, &map, !game.in_car);
if (key[KEY_SPACE] && !player.bullet_cd){
sprite_shoot(&game, &player);
player.bullet_cd = 10;
}else{
player.bullet_cd -= player.bullet_cd ? 1 : 0;
}
}else{
free(player.bullets);
player.bullets = NULL;
player.bullet_count = 0;
}
//show car
sprite_sequence(&game, &car, &map, game.in_car);
//display all overlays
blit_overlays(&game);
//show hud
show_hud(&game, &player);
//display buffer to screen
stretch_blit(game.buffer, screen, 0, 0, game.buffer->w,
game.buffer->h, 0, 0, game.screen_w * STRETCH_FACTOR,
game.screen_h * STRETCH_FACTOR);
//countdown timer
game_tick(&game, &map);
e_cycle = clock();
/*maintain consistent framerate by calculating delay of
processing, using max because we don't want negative rest*/
printf("\rIteration took %f%20s", (double)
(e_cycle - s_cycle), " ");
rest(max(game.delay - (double) (e_cycle - s_cycle), 0));
}
fprintf(fpLog, "Running exit scripts...\n");
//destroy all bitmaps
destroy_bitmaps(&game, &player, &map, &car);
fprintf(fpLog, "Exiting...\n");
return 0;
}END_OF_MAIN();
void cmd_handle(void){
unsigned char cmd;
unsigned char cmd_param[8];
int i;
cmd = uart1_receive();
uart1_send_char(cmd);
// uart2_send_char('O');
// uart3_send_char('K');
switch(cmd){
case CMD_FORWARD://前进
car_forward();
break;
case CMD_BACK ://后退
car_back();
break;
case CMD_LEFT://向左移动
car_left();
break;
case CMD_RIGHT://向右移动
car_right();
break;
case CMD_STOP://制动
car_stop();
break;
case CMD_INIT://初始化
car_init();
break;
case CMD_STANDBY://待机
car_standby();
break;
case CMD_CIRCLE1://转
car_circle(1);
break;
case CMD_CIRCLE2://反转
car_circle(0);
break;
case CMD_MOTOR_SET://设置参数
for(i=0;i<8;i++){
cmd_param[i]=uart1_receive();
}
car_set(cmd_param);
for(i=0;i<8;i++){
uart1_send_char(cmd_param[i]);
}
break;
case CMD_RESUME://恢复
car_resume();
break;
case CMD_POWER_SET:
for(i=0;i<2;i++){
cmd_param[i]=uart1_receive();
}
power_set(cmd_param);
for(i=0;i<2;i++){
uart1_send_char(cmd_param[i]);
}
break;
case CMD_STEER_SET:
for(i=0;i<3;i++){
cmd_param[i]=uart1_receive();
}
steering_set(cmd_param);
for(i=0;i<3;i++){
uart1_send_char(cmd_param[i]);
}
break;
case CMD_STEER_SHOW:
steering_show();
break;
case CMD_STEER_SET_INIT:
steering_set_init();
break;
case CMD_PLAY_WAV:
cmd_param[0]=uart1_receive();
play_wav(cmd_param[0]);
break;
default:break;
}
}
