// guess what
int main(int argc, const char *argv[]) {
// if called without any arguments, show usage info (not full help)
if(argc == 1)
show_help_and_exit();
msg_stream = stderr;
cliargs_init(argc, argv);
DynaBuf_init();// inits *global* dynamic buffer - important, so first
// Init platform-specific stuff.
// For example, this could read the library path from an
// environment variable, which in turn may need DynaBuf already.
PLATFORM_INIT;
// init some keyword trees needed for argument handling
CPUtype_init();
Outputfile_init();
// handle command line arguments
cliargs_handle_options(short_option, long_option);
// generate list of files to process
cliargs_get_rest(&toplevel_src_count, &toplevel_sources,
"No top level sources given");
// Init modules (most of them will just build keyword trees)
ALU_init();
Basics_init();
CPU_init();
Encoding_init();
Flow_init();
Input_init();
Label_init();
Macro_init();
Mnemo_init();
Output_init(fill_value);
Section_init();
if(do_actual_work())
save_output_file();
return(ACME_finalize(EXIT_SUCCESS)); // dump labels, if wanted
}
void second_straight_factory_init(){
ControllerWeight use_controller;
SwitchTerm switch_term;
int balancing_requrement =0;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop =0;
MovementDirection movementDirection = FORWARD;
//stableRunningMethod
use_controller.target_curvature_controller_weight = 0.5;
use_controller.target_light_controller_weight = 0.5;
switch_term.distance = 1330.0;
switch_term.inclination = 0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time =0;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
RunningMethod_init(&secondStraightLineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,DistanceSwitch_judge_switch_method,request_forced_stop,movementDirection);
second_straight_running_method_array[0]=secondStraightLineTraceMethod;
int number_of_running_method=1;
TargetValues target_values;
target_values.target_brightness = 0.5;
target_values.target_curvature = 0.0;
target_values.target_speed = 400;
Section *nextSection = &secondCurve_1;
Section_init(&secondStraight,nextSection,number_of_running_method,second_straight_running_method_array,target_values);
}
void thurd_straight_factory_init() {
//Section Local variables
TargetValues target_values;
Section *nextSection;
RunningMethod *runningMethod;
//RunningMethod Local Variables
ControllerWeight use_controller;
SwitchTerm switch_term;
int number_of_running_method=0;
int balancing_requrement =1;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
int (*fp_SwitchJudge)(SwitchTerm);
MovementDirection movementDirection = FORWARD;
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
//switch_term.distance = 400;
switch_term.distance = 512.89;
switch_term.distance = 680.89;
switch_term.inclination = 0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time =0;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&thurdStraightLineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//secondCurve_3 Section
thurd_straight_running_method_array[0]=thurdStraightLineTraceMethod;
runningMethod = thurd_straight_running_method_array;
number_of_running_method=1;
target_values.target_brightness = 0.5;
target_values.target_curvature = 0;
target_values.target_speed = 400;
nextSection = &thurdCurve_1;
Section_init(&thurdStraight,nextSection,number_of_running_method,runningMethod,target_values);
}
void seesaw_5_factory_init(){
ControllerWeight use_controller;
SwitchTerm switch_term;
int balancing_requrement =0;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop;
MovementDirection movementDirection = FORWARD;
int (*fp_SwitchJudge)(SwitchTerm);
//SeesawFinalLineTrace
use_controller.target_curvature_controller_weight = 0.0;
use_controller.target_light_controller_weight = 1.0;
switch_term.distance = 20;
switch_term.inclination =0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time = 0;
balancing_requrement = 1;
target_tail_angle=100;
gyroOffsetRevise=0;
request_forced_stop= 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&SeesawFinalLineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
seesaw_5_running_method_array[0]=SeesawFinalLineTraceMethod;
seesaw_5.current_running_method_number = 0;
seesaw_5.number_of_running_method = 1;
seesaw_5.running_methods = seesaw_5_running_method_array;
seesaw_5.target_values.target_brightness = 0.5;
seesaw_5.target_values.target_curvature = 0;
seesaw_5.target_values.target_speed = 50;
seesaw_5.nextSection = &firstCurve;
int number_of_running_method=1;
TargetValues target_values;
target_values.target_brightness = 0.5;
target_values.target_curvature = 0.0;
target_values.target_speed = 50;
Section *nextSection = &firstCurve;
RunningMethod *runningMethod = seesaw_5_running_method_array;
Section_init(&seesaw_5,nextSection,number_of_running_method,runningMethod,target_values);
}
void forth_straight_factory_init()
{
//Section Local variables
TargetValues target_values;
Section *nextSection;
RunningMethod *runningMethod;
//RunningMethod Local Variables
ControllerWeight use_controller;
SwitchTerm switch_term={0,0,0,0,0};
int number_of_running_method=0;
int balancing_requrement =1;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
int (*fp_SwitchJudge)(SwitchTerm);
MovementDirection movementDirection = FORWARD;
//forthStraightLineTraceMethod
use_controller.target_curvature_controller_weight = 0.5;
use_controller.target_light_controller_weight = 0.5;
//switch_term.distance = 1600;
//switch_term.distance = 870;
switch_term.distance = 1000;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&forthStraightLineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//forthStraightLineTraceMethod
forth_straight_running_method_array[0]=forthStraightLineTraceMethod;
runningMethod = forth_straight_running_method_array;
number_of_running_method=1;
target_values.target_brightness = 0.5;
target_values.target_curvature = 0;
target_values.target_speed = 400;
nextSection = &forthCurve_1;
Section_init(&forthStraight,nextSection,number_of_running_method,runningMethod,target_values);
}
void garage_factory_init(){
ControllerWeight use_controller;
SwitchTerm switch_term;
int balancing_requrement =0;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
MovementDirection movementDirection = FORWARD;
int (*fp_SwitchJudge)(SwitchTerm);
//beforelookupMethod
use_controller.target_curvature_controller_weight = 0.0;
use_controller.target_light_controller_weight = 0.1;
use_controller.target_runner_angle_controller_weight = 0.9;
switch_term.distance = 1710;
switch_term.inclination = 0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time =0;
switch_term.distance_obstacle = 0;
balancing_requrement = 0;
target_tail_angle=80;
gyroOffsetRevise=0;
request_forced_stop =0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&beforeGarageMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
garage_running_method_array[0] = beforeGarageMethod;
//garage_running_method_array[1] = grayGarageMethod;
int number_of_running_method=1;
TargetValues target_values;
target_values.target_brightness = 0.4;
target_values.target_curvature = 0.0;
target_values.target_speed = 150;
Section *nextSection = &stop;
Section_init(&garageIn,nextSection,number_of_running_method,garage_running_method_array,target_values);
}
void balancing_init(){
ControllerWeight use_controller;
SwitchTerm switch_term;
int balancing_requrement =0;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop=0;
MovementDirection movementDirection = FORWARD;
int (*fp_SwitchJudge)(SwitchTerm);
//beforelookupMethod
use_controller.target_curvature_controller_weight = 0.0;
use_controller.target_light_controller_weight = 1.0;
switch_term.distance = 0;
switch_term.inclination = 0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time =0;
switch_term.distance_obstacle = 40;
balancing_requrement = 1;
target_tail_angle=80;
gyroOffsetRevise=0;
request_forced_stop =0;
movementDirection = FORWARD;
RunningMethod_init(&balancingMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,SonarSwitch_judge_switch_method,request_forced_stop,movementDirection);
balanceing_method_array[0] = balancingMethod;
int number_of_running_method=1;
TargetValues target_values;
target_values.target_brightness = 0.5;
target_values.target_curvature = 0.0;
target_values.target_speed = 100;
Section *nextSection = &balanceStop;
Section_init(&balancing,nextSection,number_of_running_method,balanceing_method_array,target_values);
}
void forth_curve_factory_init(){
//Section Local variables
TargetValues target_values;
Section *nextSection;
//RunningMethod Local Variables
ControllerWeight use_controller;
SwitchTerm switch_term={0,0,0,0,0};
int number_of_running_method=0;
int balancing_requrement =1;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
int (*fp_SwitchJudge)(SwitchTerm);
MovementDirection movementDirection = FORWARD;
//forthCurve_1_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
switch_term.distance =308;//458
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&forthCurve_1_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//forthCurve_1 Section
forth_curve_1_running_method_array[0]=forthCurve_1_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.5;
target_values.target_curvature = -1.0/1003.09;
target_values.target_speed = 300;
nextSection= &forthCurve_2;
Section_init(&forthCurve_1,nextSection,number_of_running_method,forth_curve_1_running_method_array,target_values);
//forthCurve_2_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
switch_term.distance = 682;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&forthCurve_2_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//forthCurve_2 Section
forth_curve_2_running_method_array[0]=forthCurve_2_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.3;
target_values.target_curvature = -1/300;//-1/136.09;
target_values.target_speed = 250;
nextSection = &InFifthStraight;
Section_init(&forthCurve_2,nextSection,number_of_running_method,forth_curve_2_running_method_array,target_values);
}
void thurd_curve_factory_init()
{
//Section Local variables
TargetValues target_values;
Section *nextSection;
RunningMethod *runningMethod;
//RunningMethod Local Variables
ControllerWeight use_controller;
SwitchTerm switch_term={0,0,0,0,0,0};
int number_of_running_method=0;
int balancing_requrement =1;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
int (*fp_SwitchJudge)(SwitchTerm);
MovementDirection movementDirection = FORWARD;
//thurdCurve_1 RunningMethod
use_controller.target_curvature_controller_weight = 0.5;
use_controller.target_light_controller_weight = 0.5;
switch_term.distance = 187;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&thurdCurve_1LineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//thurdCurve_1 Section
thurdCurve_1_running_method_array[0]=thurdCurve_1LineTraceMethod;
runningMethod = thurdCurve_1_running_method_array;
number_of_running_method=1;
target_values.target_brightness = 0.5;
target_values.target_curvature = 1.0/1678.0;
target_values.target_speed = 400;
nextSection = &thurdCurve_2;
Section_init(&thurdCurve_1,nextSection,number_of_running_method,runningMethod,target_values);
//thurdCurve_2 RunningMethod
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
//switch_term.distance = 548.5929;
switch_term.distance = 648.5929;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&thurdCurve_2LineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//thurdCurve_2 Section
thurdCurve_2_running_method_array[0]=thurdCurve_2LineTraceMethod;
runningMethod = thurdCurve_2_running_method_array;
number_of_running_method=1;
target_values.target_brightness = 0.5;
//target_values.target_curvature = 1.0/810.0;
target_values.target_curvature = 1.0/610.0;
target_values.target_speed = 400;
nextSection = &thurdCurve_3;
Section_init(&thurdCurve_2,nextSection,number_of_running_method,runningMethod,target_values);
//thurdCurve_3 RunningMethod
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
switch_term.distance = 1214.5;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&thurdCurve_3LineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//thurdCurve_3 Section
thurdCurve_3_running_method_array[0]=thurdCurve_3LineTraceMethod;
runningMethod = thurdCurve_3_running_method_array;
number_of_running_method=1;
target_values.target_brightness = 0.5;
//target_values.target_curvature = 1.0/978.1;
target_values.target_curvature = 1.0/878.1;
target_values.target_speed = 400;
nextSection = &thurdCurve_4;
Section_init(&thurdCurve_3,nextSection,number_of_running_method,runningMethod,target_values);
//thurdCurve_4 RunningMethod
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
switch_term.distance = 247;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&thurdCurve_4LineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//thurdCurve_4 Section
thurdCurve_4_running_method_array[0]=thurdCurve_4LineTraceMethod;
runningMethod = thurdCurve_4_running_method_array;
number_of_running_method=1;
target_values.target_brightness = 0.5;
target_values.target_curvature = 1.0/1214.0;
target_values.target_speed = 400;
nextSection = &thurdCurve_5;
Section_init(&thurdCurve_4,nextSection,number_of_running_method,runningMethod,target_values);
//thurdCurve_5 RunningMethod
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
switch_term.distance = 400;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&thurdCurve_5LineTraceMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//thurdCurve_5 Section
thurdCurve_5_running_method_array[0]=thurdCurve_5LineTraceMethod;
runningMethod = thurdCurve_5_running_method_array;
number_of_running_method=1;
target_values.target_brightness = 0.5;
target_values.target_curvature = 1.0/1000.0;
target_values.target_speed = 400;
nextSection = &forthStraight;
Section_init(&thurdCurve_5,nextSection,number_of_running_method,runningMethod,target_values);
}
void In_sixth_curve_factory_init() {
//Section Local variables
TargetValues target_values;
Section *nextSection;
//RunningMethod Local Variables
ControllerWeight use_controller;
SwitchTerm switch_term= {0,0,0,0,0};
int number_of_running_method=0;
int balancing_requrement =1;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
int (*fp_SwitchJudge)(SwitchTerm);
MovementDirection movementDirection = FORWARD;
//InFifthCurve_1_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.3;
use_controller.target_light_controller_weight = 0.7;
//switch_term.distance = 463;
switch_term.distance = 563;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&InFifth_Curve_1_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//InFifthCurve_1 Section
InFifth_curve_1_running_method_array[0]=InFifth_Curve_1_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.3;
//target_values.target_curvature = -1/262.979;
target_values.target_curvature = -1/180.0;
target_values.target_speed = 250;
nextSection= &InFifthCurve_2;
Section_init(&InFifthCurve_1,nextSection,number_of_running_method,InFifth_curve_1_running_method_array,target_values);
//InFIfthCurve_2_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.3;
use_controller.target_light_controller_weight = 0.7;
switch_term.distance = 492;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&InFifth_Curve_2_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//InFifthCurve_2 Section
InFifth_curve_2_running_method_array[0]=InFifth_Curve_2_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.5;
//target_values.target_curvature = 1.0/250.0;
target_values.target_curvature = -1.0/859.61;
target_values.target_speed = 300;
nextSection = &afterInFifthCurveStraight;
Section_init(&InFifthCurve_2,nextSection,number_of_running_method,InFifth_curve_2_running_method_array,target_values);
}
void forth_curve_factory_init(){
//Section Local variables
TargetValues target_values;
Section *nextSection;
//RunningMethod Local Variables
ControllerWeight use_controller;
SwitchTerm switch_term={0,0,0,0,0};
int number_of_running_method=0;
int balancing_requrement =1;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
int (*fp_SwitchJudge)(SwitchTerm);
MovementDirection movementDirection = FORWARD;
//forthCurve_1_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.5;
use_controller.target_light_controller_weight = 0.5;
switch_term.distance =461.0737;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&forthCurve_1_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//forthCurve_1 Section
forth_curve_1_running_method_array[0]=forthCurve_1_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.5;
target_values.target_curvature = -1.0/700.0;
target_values.target_speed = 400;
nextSection= &forthCurve_2;
Section_init(&forthCurve_1,nextSection,number_of_running_method,forth_curve_1_running_method_array,target_values);
//forthCurve_2_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.5;
use_controller.target_light_controller_weight = 0.5;
//switch_term.distance = 750.2846;
switch_term.distance =900.2846;
balancing_requrement = 1;
target_tail_angle=0;
switch_term.direction = 180;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
//fp_SwitchJudge = DirectionDistanceMultipleSwitch_judge_switch_method;
RunningMethod_init(&forthCurve_2_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//forthCurve_2 Section
forth_curve_2_running_method_array[0]=forthCurve_2_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.3;
//target_values.target_curvature = -1.0/650.0;
target_values.target_curvature = -1.0/550.0;
target_values.target_speed = 400;
nextSection = &outFifthStraight;
Section_init(&forthCurve_2,nextSection,number_of_running_method,forth_curve_2_running_method_array,target_values);
}
void second_curve_factory_init(){
//Section Local variables
TargetValues target_values;
Section *nextSection;
//RunningMethod Local Variables
ControllerWeight use_controller;
SwitchTerm switch_term;
int number_of_running_method=0;
int balancing_requrement =1;
int target_tail_angle=0;
int gyroOffsetRevise=0;
int request_forced_stop = 0;
int (*fp_SwitchJudge)(SwitchTerm);
MovementDirection movementDirection = FORWARD;
//secondCurve_1_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.3;//0.4
use_controller.target_light_controller_weight = 0.7;//0.6
//switch_term.distance = 761.83622;
switch_term.distance = 601.83622; //sisou
switch_term.inclination = 0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time =0;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&secondCurve_1_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//secondCurve_1 Section
second_curve_1_running_method_array[0]=secondCurve_1_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.3;
//target_values.target_curvature = -1.0/485;
target_values.target_curvature = -1.0/385.0; //sisou
target_values.target_speed = 300;
nextSection= &secondCurve_2;
Section_init(&secondCurve_1,nextSection,number_of_running_method,second_curve_1_running_method_array,target_values);
//secondCurve_2_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.3;
use_controller.target_light_controller_weight = 0.7;
switch_term.distance = 447.97191;
switch_term.distance = 747.97191;
switch_term.inclination = 0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time =0;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop = 0;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&secondCurve_2_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//secondCurve_2 Section
second_curve_2_running_method_array[0]=secondCurve_2_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.3;
//target_values.target_curvature = -1.0/370;
target_values.target_curvature = -1.0/200;
target_values.target_speed = 300;
nextSection = &secondCurve_3;
Section_init(&secondCurve_2,nextSection,number_of_running_method,second_curve_2_running_method_array,target_values);
//secondCurve_3_LineTraceRunningMethod
use_controller.target_curvature_controller_weight = 0.4;
use_controller.target_light_controller_weight = 0.6;
switch_term.distance = 349.32571;
switch_term.inclination = 0;
switch_term.inPushed = 0;
switch_term.speed = 0;
switch_term.time =0;
balancing_requrement = 1;
target_tail_angle=0;
gyroOffsetRevise=0;
request_forced_stop =0 ;
movementDirection = FORWARD;
fp_SwitchJudge = DistanceSwitch_judge_switch_method;
RunningMethod_init(&secondCurve_3_LineTraceRunningMethod,balancing_requrement,use_controller,target_tail_angle, gyroOffsetRevise,switch_term,fp_SwitchJudge,request_forced_stop,movementDirection);
//secondCurve_3 Section
second_curve_3_running_method_array[0]=secondCurve_3_LineTraceRunningMethod;
number_of_running_method=1;
target_values.target_brightness = 0.3;
target_values.target_curvature = -1.0/230;
target_values.target_speed = 300;
nextSection = &thurdStraight;
Section_init(&secondCurve_3,nextSection,number_of_running_method,second_curve_3_running_method_array,target_values);
}
