void erzhihua_x(uint8 (*ab)[136],uint8 ms) //二值化阀值ms选择1：混合2：中间值3：平均值
{
uint8 zuida,zuixiao,fazhi;//最大最小阀值
uint32 zongzhi; //总值
uint8 fazhi1,fazhi2; //阀值1 2
uint8 i,j;
zuida=ab[0][0];
zuixiao=ab[0][0];
zongzhi=0;
for(i=0;i<165;i++)
{
for(j=0;j<136;j++)
{
if(ab[i][j]>zuida)zuida=ab[i][j];
if(ab[i][j]<zuixiao)zuixiao=ab[i][j];
zongzhi=zongzhi+ab[i][j];
}
}
fazhi1=(zuida+zuixiao)/2;
fazhi2=zongzhi/22440;
if(ms==1)
fazhi=(fazhi1+fazhi2)/2;
if(ms==2)
fazhi=fazhi1-0x10;
if(ms==3)
fazhi=fazhi2;
for(i=0;i<165;i++)
{
for(j=0;j<136;j++)
{
if(ab[i][j]>fazhi) ab[i][j]=0xfe;
else ab[i][j]=0x01;
}
}
if(ab[160][67]==0xfe)
qd=67;
else
{
if((ab[160][33]==0xfe)&(ab[160][101]==0x01))
qd=33;
if((ab[160][33]==0x01)&(ab[160][101]==0xfe))
qd=101;
if((ab[160][33]==0x01)&(ab[160][101]==0x01))
qd=67;
}
qd=zhongzhi_zx_2D(ab,160,qd);
for(i=10;i>0;i--)
{
sdsj[0][i-1]=zhongzhi_zbx_2D(ab,i*10+50,qd);Display_number ((i-1)/5*64+1,(i-1)%5,sdsj[0][i]);
sdsj[1][i-1]=zhongzhi_ybx_2D(ab,i*10+50,qd);
if(i!=10)
Display_number ((i-1)/5*64+33,(i-1)%5,sdsj[1][i]);
else
Display_number (97,4,sdsj[1][9]);
qd=zhongzhi_zx_2D(ab,i*10+50,qd);
}
}
void chuli_float(float zhi)
{
unsigned char temp1=0,temp2=0,temp3=0;
temp1=(int)(zhi*10)/100;
temp2=(int)zhi%10;
temp3=(int)(zhi*10)%10;
Display_number(1,3,temp1);
LCD_WDAT(temp2+48);
Display(1,4,".");
LCD_WDAT(temp3+48);
Display(1,5,"℃");
}
/*!
* @brief OLED显示
* @since v1.0
* @note 没啥
* Sample usage: oled_display();
*/
void oled_display()
{
//第一行显示拨码开关状态
OLED_P6x8Str(0, 0, "12345678");
OLED_P6x8Str(50, 0, "speed:"); Display_number(86, 0, vPID.Setpoint);
OLED_P6x8Str(50, 1, "Error:"); Display_number(86, 1, Error);
OLED_P6x8Str(0, 2, "slope:"); DisplayFloat(36, 2, slope.slope);
OLED_P6x8Str(80, 2, "P:"); DisplayFloatpid(92, 2, actuator_P);
OLED_P6x8Str(0, 3, "Distance:"); Display_number(54, 3, distance);
OLED_P6x8Str(86, 3, "D:"); DisplayFloatpid(98, 3, actuator_D);
OLED_P6x8Str(0, 4, "Bluetooth:");
if(bluetooth == 1)
OLED_P6x8Str(60, 4, "connected ");
else if(bluetooth == 0)
OLED_P6x8Str(60, 4, "disconnect");
else
OLED_P6x8Str(60, 4, "off ");
OLED_P6x8Str(0, 5, "stop?");
if(stop_done)
OLED_P6x8Str(36, 5, "yes");
else
OLED_P6x8Str(36, 5, "no");
#if ( CAR_NUMBER == 1 )
OLED_P6x8Str(0, 7, "Interesting");
OLED_P6x8Str(91, 7, "Car:1A");
#endif
#if ( CAR_NUMBER == 2 )
OLED_P6x8Str(0, 7, "Interesting");
OLED_P6x8Str(91, 7, "Car:2B");
#endif
if(!gpio_get (PTE1))
OLED_P6x8Str(0, 1, "^");
else
OLED_P6x8Str(0, 1, " ");
if(!gpio_get (PTE2))
OLED_P6x8Str(6, 1, "^");
else
OLED_P6x8Str(6, 1, " ");
if(!gpio_get (PTE3))
OLED_P6x8Str(12, 1, "^");
else
OLED_P6x8Str(12, 1, " ");
if(!gpio_get (PTE4))
OLED_P6x8Str(18, 1, "^");
else
OLED_P6x8Str(18, 1, " ");
if(!gpio_get (PTE5))
OLED_P6x8Str(24, 1, "^");
else
OLED_P6x8Str(24, 1, " ");
if(!gpio_get (PTE6))
OLED_P6x8Str(30, 1, "^");
else
OLED_P6x8Str(30, 1, " ");
if(!gpio_get (PTE7))
OLED_P6x8Str(36, 1, "^");
else
OLED_P6x8Str(36, 1, " ");
if(!gpio_get (PTE8))
OLED_P6x8Str(42, 1, "^");
else
OLED_P6x8Str(42, 1, " ");
if(key_check(KEY_A) == KEY_DOWN)
{
OLED_Init(); //OLED初始化 防花屏
}
if(key_check(KEY_U) == KEY_DOWN) //按K2重新获取两边线数组，串口接收
{
get_initial_value(img, &slope);
printf("const int left_initial[110] ={");
for(i = 0; i < 110; i++)
{
printf("%d, ", slope.left_initial_value[i]);
//printf("[%d]=%d\n", i, slope.right_initial_value[i]);
}
printf("};\nconst int right_initial[110] ={");
for(i = 0; i < 110; i++)
{
printf("%d, ", slope.right_initial_value[i]);
//printf("[%d]=%d\n", i, slope.right_initial_value[i]);
}
printf("};//Pay attention to delete the last \",\"\n");
//initial_value_get=1;
}
}