Car::Car()
: m_leds{Led(0), Led(1), Led(2), Led(3)},
m_uart(3, 115200),
m_motor1(0), m_motor2(1),
#ifdef LIBSC_USE_CAMERA
m_cam(CAM_W, CAM_H),
#endif
m_accel(RXADC),
m_lcd(true),
m_start_button(0),
m_joystick(0),
m_balancevolt(LIBSC_VOLT)
{
#ifdef LIBSC_USE_UART
m_uart.StartReceive();
libutil::InitDefaultFwriteHandler(&m_uart);
#endif
#ifdef LIBSC_USE_CAMERA
while (!m_cam.Init())
{
LOG_E("Camera f****d up!!!!!");
DELAY_MS(250);
}
m_cam.ShootContinuously();
#endif
#ifdef LIBSC_USE_K60_ENCODERS
FTM_QUAD_Init(FTM1);
FTM_QUAD_Init(FTM2);
#endif
}
void FTM_init()
{
FTM_QUAD_Init(FTM1);
FTM_QUAD_Init(FTM2);
FTM_PWM_init(FTM0,FTM_CH0,20*1000,0);//leftMotorDeadDutyA:340
FTM_PWM_init(FTM0,FTM_CH1,20*1000,0);//leftMotorDeadDutyB:590
FTM_PWM_init(FTM0,FTM_CH2,20*1000,0);//rightMotorDeadDutyA:530
FTM_PWM_init(FTM0,FTM_CH3,20*1000,0);//rightMotorDeadDutyB:380
}
void Device_init()
{
gpio_init(PTC11,GPI,1); //拨码开关5
gpio_init(PTC12,GPI,1); //拨码开关4
gpio_init(PTC13,GPI,1); //拨码开关3
gpio_init(PTC15,GPI,1); //拨码开关2
gpio_init(PTD2,GPI,1); //拨码开关1
gpio_init(PTD1,GPO,1); //三个指示灯依次亮起
gpio_init(PTD3,GPO,1);
gpio_init(PTD4,GPO,1); //每进入一次初始化PTD4灯灭，初始化完成亮起
gpio_init(PTC5,GPO,1);
gpio_init(PTC4,GPI,0); //干簧管
FTM_PWM_init(FTM1,FTM_CH0,50,angle_to_period(0)); //舵机初始化，从百分之十占空比到百分之七十占空比测试
FTM_PWM_init(FTM0,FTM_CH1,10000,0); //电机pwm初始化
FTM_PWM_init(FTM0,FTM_CH2,10000,0);
//FTM_PWM_init(FTM2,FTM_CH0,3000000,93000); //编码器初始化
//FTM_PWM_init(FTM2,FTM_CH1,3000000,93000);
FTM_QUAD_Init(FTM2); //初始化为正交解码
LCD_Init();
PIT_init();
gpio_set(PTD4,1);
}