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");
}
