void init_car(){ init_motor(); init_motor_CWCCW(); init_encoder(); init_External_Interrupt(); init_linear_actuator(); init_Neural(&n_r, 0.01, 0.01, 0); init_Neural(&n_l, 0.01, 0.01, 0); init_Neural(&n_r_back, 0.01, 0.01, 0); init_Neural(&n_l_back, 0.01, 0.01, 0); array_1d_Init_2(RECORD_SIZE, 0, path_record_r_p); array_1d_Init_2(RECORD_SIZE, 0, path_record_l_p); array_1d_Init_2(RECORD_SIZE, 0, path_record_r_n); array_1d_Init_2(RECORD_SIZE, 0, path_record_l_n); array_1d_Init_2(RECORD_SIZE, 0, kp_record_l); array_1d_Init_2(RECORD_SIZE, 0, kp_record_r); array_1d_Init_2(RECORD_SIZE, 0, ki_record_l); array_1d_Init_2(RECORD_SIZE, 0, ki_record_r); array_1d_Init_2(RECORD_SIZE, 0, kd_record_l); array_1d_Init_2(RECORD_SIZE, 0, kd_record_r); array_1d_Init_2(RECORD_SIZE, 0, desire_record); array_1d_Init_2(RECORD_SIZE, 0, c_out_r); array_1d_Init_2(RECORD_SIZE, 0, c_out_l); path_counter = 0; carTimers = xTimerCreate("Car_State_Polling", ( CAR_POLLING_PERIOD), pdTRUE, ( void * ) 1, Car_State_Polling ); xTimerStart( carTimers, 0 ); }
void initialize() { /* ---------communication-------- */ init_USART3(9600); USART_puts(USART3,"initial...\n\r"); USART_puts(USART3,"USART is ready\n\r"); /* ------------motors------------ */ init_motor(); init_linear_actuator(); USART_puts(USART3,"motor is ready \n\r"); /* ------------sensor------------ */ init_encoder(); init_CurTransducer(); init_Indicator(); /* -----------SD(data)----------- */ USART_puts(USART3,"test sdio/fat \n\r"); start_record(); USART_puts(USART3,"test end \n\r"); }