void Record_data()
{
keyscan();
if(flag_new)
{
switch(key)
{
case 1: if(flag_d==1) Height++;
if(flag_d==2) Weight++;
break;
case 2: if(flag_d==1) Height--;
if(flag_d==2) Weight--;
break;
case 3: flag_d++;break;
default: break;
}
if(flag_d==1) { LCD_WriteChar(78,2,'*');LCD_WriteChar(78,3,' ');}
if(flag_d==2) { LCD_WriteChar(78,3,'*');LCD_WriteChar(78,2,' ');}
if(flag_d==3) flag_data=1;
LCD_WriteNum(45,2,Height);
LCD_WriteNum(51,3,Weight);
flag_new=0;
}
}
void read_Twarn(uint a,uint b)
{
key_T();
DHT11_Receive();
if(!T_warn&&TH>10&&TH<40) T_warn=TH+2;
LCD_WriteNum(60,a,T_warn);
LCD_WriteNum(36,b,TH);
}
void Run_jibu()
{
keyscan();
if(flag_new)
{
switch(key)
{
case 1: if(run_mode==0) run_mode=1;
else if(run_mode==1) run_mode=0;
else if(run_mode==2) run_mode=0;
break;
case 2: run_mode=2;
break;
case 3: flag_running=1;run_bu=run_bushu;break;
default: break;
}
flag_new=0;
switch(run_mode)
{
case 0: Display_time();
break;
case 1: Display_step();
break;
case 2: LCD_WriteString(0,2,"Height: cm");
LCD_WriteString(0,3,"Weight: kg");
LCD_WriteNum(45,2,Height);
LCD_WriteNum(51,3,Weight);
break;
default: break;
}
}
if(flag_time&&(run_mode==0))
{
flag_time=0;
LCD_WriteNum(30,3,time_m);
LCD_WriteNum(55,3,time_s);
}
if(run_flag&&(run_mode==1))
{
run_flag=0;
LCD_WriteNum(20,3,run_bushu);
}
}
void duoji_saomiao(void)
{
uint a_saomiao,b_saomiao;
duoji1=1500;duoji2=750;
for(a_saomiao=0;a_saomiao<=14;a_saomiao++)
{
for(b_saomiao=0;b_saomiao<=149;b_saomiao++)
{
if(flag_fanzhuan==0) duoji2=duoji2+10;
else duoji2=duoji2-10;
LCD_WriteNum(0,4,duoji1);
LCD_WriteNum(0,2,duoji2);
}
duoji1=duoji1+100;
flag_fanzhuan=!flag_fanzhuan;
}
}
void Display_step()
{
LCD_WriteString(0,2," ");
LCD_WriteString(0,3," ");
LCD_WriteString(10,2,"You have run");
LCD_WriteString(45,3,"steps!");
LCD_WriteNum(20,3,run_bushu);
}
void run_end()
{
uint Ener,bup,shijian;
shijian=time_m*10+time_s/6;
if(shijian==0) bup=0;
else bup=run_bu*10/shijian;
Ener=(43*Height/10+57*Weight/10+92*shijian/10+26*bup/10)/10;
LCD_WriteString(0,0,"Height: cm");
LCD_WriteString(0,1,"Weight: kg");
LCD_WriteNum(45,0,Height);
LCD_WriteNum(51,1,Weight);
LCD_WriteString(0,2,"Time:");
LCD_WriteNum(35,2,time_m);
LCD_WriteNum(60,2,time_s);
LCD_WriteChar(49,2,':');
LCD_WriteString(0,3,"Step:");
LCD_WriteNum(35,3,run_bu);
/* LCD_WriteNum(0,0,43*Height/10);
LCD_WriteNum(0,1,57*Weight/10);
LCD_WriteNum(0,2,92*shijian/10);
LCD_WriteNum(0,3,26*bup/10);*/
LCD_WriteString(0,4,"Ener: kcal");
LCD_WriteNum(35,4,Ener);
LCD_WriteString(0,5,"YOU ARM GREAT!");
}
void GoRoute3(void)//放最远的树叶
{
struct Pointfp64 pos_scan1,pos_scan2,pos_tmp;
struct Pointfp64 pos_real1,pos_real2;
struct Pointfp64 pos_ring1= C_Ring1,pos_ring2=C_Ring2;
struct Pointfp64 pos_robot;
uint8 flag1=0,flag2=0,i;
fp64 dist1,dist2,radian1,radian2,robot_radian;
struct Pointfp64 error1,error2;
int flaglidar;
struct Pointfp64 temp;
Route_Num=3;
// SetPointPath(Route[2]+1,Route[3],PointRoute[Route[3]].selfangle,PointRoute[Route[3]].position);
flaglidar=1;
while(RouteFinish)
{
if((Point_NowNum>=Point_EndNum-250)&&flaglidar==1)
{
pos_robot=Gps_List[0].position;
dist1=MATH_Distance(pos_robot,pos_ring1);
dist2=MATH_Distance(pos_robot,pos_ring2);
radian1=atan((pos_robot.y-pos_ring1.y)/(pos_robot.x-pos_ring1.x))-Gps_List[0].radian;
radian2=atan((pos_robot.y-pos_ring2.y)/(pos_robot.x-pos_ring2.x))-Gps_List[0].radian;
pos_real1.x=dist1*sin(-radian1);
pos_real1.y=dist1*cos(-radian1)-335;
pos_real2.x=dist2*sin(-radian2);
pos_real2.y=dist2*cos(-radian2)-335;
Lidar_Stat=Lidar_Route_3;//第三段的修正方式
flaglidar=0;
robot_radian=Gps_List[0].radian;
#if WalkGroundEnable
RouteForm=RouteStop;
#endif
}
if(Lidar_Stat==Lidar_Route_3)//在雷达传输完成前，液晶屏显示"waiting"
{
LCD_SetXY(0,0);
LCD_WriteString("Waiting1");
}
else if (flaglidar==0)
{
//雷达任务会给出 Lidar_Num_Result 个圆环中心
for (i=0;i<Lidar_Num_Result;i++)//处理雷达数据，将其他环的圆心剔除
{
pos_tmp.x=Lidar_ResultX[i]-Ring1_Shift.x;
pos_tmp.y=Lidar_ResultY[i]-Ring1_Shift.y;
dist1=MATH_Distance(pos_tmp,pos_real1);
dist2=MATH_Distance(pos_tmp,pos_real2);
if (dist1<500)//若圆心相对车体距离误差小于500，取之
{
flag1=i+1; pos_scan1=pos_tmp;
error1.x=pos_tmp.x-pos_real1.x;
error1.y=pos_tmp.y-pos_real1.y;
}
if (dist2<200)
{
flag2=i+1; pos_scan2=pos_tmp;
error2.x=pos_tmp.x-pos_real2.x;
error2.y=pos_tmp.y-pos_real2.y;
}
}
error2=error1;
if (flag1!=0)//修改坐标
{
temp.y=(error1.y+error2.y)/2;
temp.x=(error1.x+error2.x)/2;
Gps_List[0].position.x-=temp.y*cos(-robot_radian)-temp.x*sin(-robot_radian);
Gps_List[0].position.y+=temp.y*sin(-robot_radian)+temp.x*cos(-robot_radian);
fix_2.x=temp.y*cos(-robot_radian)-temp.x*sin(-robot_radian);
fix_2.y=-(temp.y*sin(-robot_radian)+temp.x*cos(-robot_radian));
#if WalkGroundEnable
rGPJDAT|=0x1000; //开蜂鸣器
#endif
flaglidar=-1;
}
else
{
flaglidar=-2;
rGPJDAT&=~0x1000; //关蜂鸣器
}
LCD_Clear();
LCD_SetXY(10,0);
LCD_WriteInt(flaglidar); //-3
LCD_SetXY(0,3);
LCD_WriteInt(pos_real1.x); //495
LCD_SetXY(10,3);
LCD_WriteInt(pos_real1.y); //1448
LCD_SetXY(0,4);
LCD_WriteInt(pos_scan1.x); //
LCD_SetXY(10,4);
LCD_WriteInt(pos_scan1.y); //
LCD_SetXY(0,5);
LCD_WriteInt(temp.y*cos(-robot_radian)-temp.x*sin(-robot_radian)); //
LCD_SetXY(10,5);
LCD_WriteInt(-(temp.y*sin(-robot_radian)+temp.x*cos(-robot_radian))); //
LCD_SetXY(0,6);
LCD_WriteNum(radian1/PI*180); //-15
LCD_SetXY(10,6);
LCD_WriteInt(radian2/PI*180); //-46
OSTimeDly(1);
#if WalkGroundEnable
for(;;)
{
if(Button7_On)
{
RouteForm=PointLine;
LCD_SetXY(0,7);
LCD_WriteString("out break!");
break;
}
OSTimeDly(1);
}
#endif
}
if(Point_NowNum>=Point_EndNum-1)
{
RouteFinish=0;
Route_Num++;
OSMboxPost(ArmMbox,&Route_Num);
LCD_SetXY(0,0);
LCD_WriteString("route3 done");
}
OSTimeDly(1);
}
}
void LCD_WriteNumXY(double data,int x,int y)
{
LCD_SetXY(x,y);
LCD_WriteNum(data);
}
void Display_time(void)
{
LCD_WriteNum(40,1,time_s);
LCD_WriteNum(60,1,time_ms);
}
void LCD_WriteDouble(double val)
{
LCD_WriteNum(val);
}
void Input_List(struct Input_ListValue *list,int num)
{
rt_uint32_t key_value;
int i,index;
int allpage=(num-1)/3;
int nowpage=0;
fp64 out;
while(1)
{
LCD_Clear();
for(i=0;i<3;i++)
{
index=nowpage*3+i;
if(index<num)
{
LCD_SetXY(0,i);
LCD_Printf("%d.",i+1);
LCD_WriteString(list[index].name);
LCD_WriteString(":");
switch(list[index].type)
{
case TYPE_INT8:
LCD_WriteNum(*(int8_t*)(list[index].value));
break;
case TYPE_UINT8:
LCD_WriteNum(*(uint8_t*)(list[index].value));
break;
case TYPE_INT16:
LCD_WriteNum(*(int16_t*)(list[index].value));
break;
case TYPE_UINT16:
LCD_WriteNum(*(uint16_t*)(list[index].value));
break;
case TYPE_INT32:
LCD_WriteNum(*(int32_t*)(list[index].value));
break;
case TYPE_UINT32:
LCD_WriteNum(*(uint32_t*)(list[index].value));
break;
case TYPE_INT64:
LCD_WriteNum(*(int64_t*)(list[index].value));
break;
case TYPE_UINT64:
LCD_WriteNum(*(uint64_t*)(list[index].value));
break;
case TYPE_FP32:
LCD_WriteNum(*(fp32*)(list[index].value));
break;
case TYPE_FP64:
LCD_WriteNum(*(fp64*)(list[index].value));
break;
}
}
else
{
LCD_SetXY(0,i);
LCD_WriteString(" ");
}
LCD_SetXY(0,3);
LCD_Printf("5.save 6.go %d/%d ",nowpage+1,allpage+1);
}
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case pageup:
if(nowpage>0)
nowpage--;
else
nowpage=allpage;
break;
case pagedown:
if(nowpage<allpage)
nowpage++;
else
nowpage=0;
break;
case 1:
case 2:
case 3:
index=key_value+nowpage*3-1;
switch(list[index].type)
{
case TYPE_INT8:
out=(*(int8_t*)(list[index].value));
break;
case TYPE_UINT8:
out=(*(uint8_t*)(list[index].value));
break;
case TYPE_INT16:
out=(*(int16_t*)(list[index].value));
break;
case TYPE_UINT16:
out=(*(uint16_t*)(list[index].value));
break;
case TYPE_INT32:
out=(*(int32_t*)(list[index].value));
break;
case TYPE_UINT32:
out=(*(uint32_t*)(list[index].value));
break;
case TYPE_INT64:
out=(*(int64_t*)(list[index].value));
break;
case TYPE_UINT64:
out=(*(uint64_t*)(list[index].value));
break;
case TYPE_FP32:
out=(*(fp32*)(list[index].value));
break;
case TYPE_FP64:
out=(*(fp64*)(list[index].value));
break;
}
Input_DoubleValue(&out,list[index].name);
switch(list[index].type)
{
case TYPE_INT8:
(*(int8_t*)(list[index].value))=out;
break;
case TYPE_UINT8:
(*(uint8_t*)(list[index].value))=out;
break;
case TYPE_INT16:
(*(int16_t*)(list[index].value))=out;
break;
case TYPE_UINT16:
(*(uint16_t*)(list[index].value))=out;
break;
case TYPE_INT32:
(*(int32_t*)(list[index].value))=out;
break;
case TYPE_UINT32:
(*(uint32_t*)(list[index].value))=out;
break;
case TYPE_INT64:
(*(int64_t*)(list[index].value))=out;
break;
case TYPE_UINT64:
(*(uint64_t*)(list[index].value))=out;
break;
case TYPE_FP32:
(*(fp32*)(list[index].value))=out;
break;
case TYPE_FP64:
(*(fp64*)(list[index].value))=out;
break;
}
break;
case key6:
return;
}
}
Delay_ms(5);
}
}
void Input_FloatValue(float * address,char *name)//浮点输入
{
u32 key_value;
u32 point=0;
char str[20]={'\0'};
float temp;
int i,j;
str[0]=' ';
i=1;
point=0;
for(;;)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_WriteString(name);
LCD_SetXY(0,1);
LCD_WriteString("old:");
LCD_WriteNum(*address);
LCD_SetXY(0,2);
LCD_WriteString("new:");
LCD_WriteString(str);
if(i<=1)
{
LCD_SetXY(5,2);
LCD_WriteString("Value=0!!!");
}
Delay_ms(20);
if(rt_mb_recv(&Mb_Key, (rt_uint32_t*)&key_value, 0)==RT_EOK)
{
switch(key_value)
{
case 1://1
if(i<14)
str[i++]='1';
break;
case 2://2
if(i<14)
str[i++]='2';
break;
case 3://3
if(i<14)
str[i++]='3';
break;
case 4://4
if(i<14)
str[i++]='4';
break;
case 7://5
if(i<14)
str[i++]='5';
break;
case 8://6
if(i<14)
str[i++]='6';
break;
case 9://7
if(i<14)
str[i++]='7';
break;
case 10://8
if(i<14)
str[i++]='8';
break;
case 13://9
if(i<14)
str[i++]='9';
break;
case 14://0
if(i<14)
str[i++]='0';
break;
case 15://.
if(point==0&&i<14)
{
str[i++]='.';
point=1;
}
break;
case 16://-
if(str[0] == ' ')
str[0] = '-';
else
str[0] = ' ';
break;
case 17://del
if(i>1)
{
if(str[i-1]=='.')
point=0;
str[--i]='\0';
}
break;
case 18://ok
temp=0;
point=0;
for(j=1;j<i;j++)//
{
if(str[j]=='.')
{
point=10;
}
else if(point==0)
{
temp=temp*10+str[j]-'0';
}
else
{
temp+=(str[j]-'0')/(float)point;
point=point*10;
}
}
if(str[0]=='-')
temp=-temp;
*address=temp;
return;
case 5://cancel
return;
}
}
}
}
