: ': microchip

: on-board :

. . .

,

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/ SerialCameraEncoderControlPWM

- CMUcam2 160 x 255 30 24bit (Rs-232) .

- CMUcam2 ( )

1: : .:

2: : .:

IDLE

ACK

NCK

PACKbyte_count=0

TPACKbyte_count++

SPACKbyte_count++

byte = ['C' | 'K']byte_count < 6byte_count < 8byte = 'T'byte = 'S'byte = 0xFFbyte = Abyte = Ntypedef struct{BYTE mx;BYTE my; BYTE x1; BYTE y1;BYTE x2;BYTE y2;BYTE pixels;BYTE confidence;}T_Packet_Data_Type;typedef struct{BYTE Rmean;BYTE Gmean; BYTE Bmean; BYTE Rdev; BYTE Gdev; BYTE Bdev; }S_Packet_Data_Type;

: . , . : . : P, PD -PD-Fuzzy Logic

-Simulink

P , .Kp .

P: ( Kp ): Kp , "" Kp

PD , ( ).Kp - Kd .

PD: ( ) ( ): (P -D).

PD-Fuzzy Logic (Fuzzy Logic) , . , . : PD P -D Kp -Kd

Kp -Kd

PD-Fuzzy LogicwKd [%]wKp [%]Xerr [pix]Xerr [pix]

X [cm]X [cm]X [cm]

, . on-board " .microchip . . RT . RF ( ). (P, PD ... ) .

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