void center()
{
for(m = 0; m < 8; m++)
{
ADC_Start(m);
ADC_Get( &ad[m] );
ad_data[m] = ad[m];
}
X_l = abs(abs(ad_data[0]-ad_data[1]) - abs(ad_data[2]-ad_data[3]));
Y_l = abs(abs(ad_data[0]-ad_data[2]) - abs(ad_data[1]-ad_data[3]));
X_r = abs(abs(ad_data[4]-ad_data[5]) - abs(ad_data[6]-ad_data[7]));
Y_r = abs(abs(ad_data[4]-ad_data[6]) - abs(ad_data[5]-ad_data[7]));
if(X_l>X_r)
{
center_x = ((float)(X_l-X_r))/2;
center_y = ((float)(Y_l-Y_r))/2;
}
if(X_l<X_r)
{
center_x = ((float)(X_r-X_l))/2;
center_y = ((float)(Y_r-Y_l))/2;
}
usart1_transmit(100);
usart1_transmit(center_x);
}
void unsigned_dec(int dec) // 십진수 출력(네자리)
{
unsigned int result[5];
result[0] = 0;
result[1] = 0;
result[2] = 0;
result[3] = 0;
result[4] = 0;
{
char i = 0;
do
{
result[i] = (dec % 10) + 48;
dec = dec / 10;
i++;
}while(dec != 0);
while(i > 0)
{
i--;
usart1_transmit(result[i]);
}
}
}
s16 read_ultrasonic_1()
{
receive_count=0;
dis_H=dis_L=0;
usart1_transmit(0x55);
while(receive_count<=1);
return dis_H*256+dis_L;
}
void zmp()
{
for(m = 0; m < 8; m++)
{
ADC_Start(m);
ADC_Get( &ad[m] );
ad_data[m] = ad[m];
}
for(gg=0;gg<8;gg++)
{
numerator=ad_data[gg]*lenx[gg];
count_numerator = count_numerator+numerator;
}
for(gg=0;gg<8;gg++)
{
denominator=ad_data[gg];
count_denominator = count_denominator+denominator;
}
zmpx = count_numerator/count_denominator;
for(gg=0;gg<8;gg++)
{
numerator_1=ad_data[gg]*leny[gg];
count_numerator_1 = count_numerator_1+numerator_1;
}
for(gg=0;gg<8;gg++)
{
denominator_1=ad_data[gg];
count_denominator_1 = count_denominator_1+denominator_1;
}
zmpy = count_numerator_1/count_denominator_1;
unsigned_dec(zmpx);
unsigned_dec(zmpy);
usart1_transmit(0x0d);
usart1_transmit(0x0a);
}
