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  • 26 PSDD Module Structure

    Загружено:

    zagg1988
    18 просмотров7 страниц
    Program Structure Design Document Module Structural Diagram start() drive beginning Initial Motor speed initial drive left motor interrupt flag right motor interrupt flag motor speed get_flag_r() get int flag for right motor set_l_speed() Set the right motor speed set_r_speed() get the left motor speed 10ms counter get_period_acc() Calculate acceleration speed decel_ctrl() deceleration control motor speed motor speed get_time10() get 10ms clock stop() stop operation t

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    Program Structure Design Document Module Structural Diagram start() drive beginning Initial Motor speed initial drive left motor interrupt flag right motor interrupt flag motor speed get_flag_r() get int flag for right motor set_l_speed() Set the right motor speed set_r_speed() get the left motor speed 10ms counter get_period_acc() Calculate acceleration speed decel_ctrl() deceleration control motor speed motor speed get_time10() get 10ms clock stop() stop operation t

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    Attribution Non-Commercial (BY-NC)
    Скачайте в формате DOC, PDF, TXT или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    18 просмотров7 страниц

    26 PSDD Module Structure

    Загружено:

    zagg1988
    Program Structure Design Document Module Structural Diagram start() drive beginning Initial Motor speed initial drive left motor interrupt flag right motor interrupt flag motor speed get_flag_r() get int flag for right motor set_l_speed() Set the right motor speed set_r_speed() get the left motor speed 10ms counter get_period_acc() Calculate acceleration speed decel_ctrl() deceleration control motor speed motor speed get_time10() get 10ms clock stop() stop operation t

    Авторское право:

    Attribution Non-Commercial (BY-NC)
    Скачайте в формате DOC, PDF, TXT или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    из 7

    Program Structure Design Document

    Module Structural Diagram


    main() Operate the Autonomous robot Rotation angle

    Drive mode
    wait_port_ready( )

    stop() Stop

    wait_start() Wait start switch on

    start() Drive beginning

    tracking_ctrl() Running control

    turn() Turn 180 degree

    Wait buffering

    operation

    stop() Stop operation SW2 Motor speed counter

    wait_start() Wait start switch on detection 10ms counter progress

    set_l_speed() Set the right motor speed

    set_r_speed() Set the left motor speed

    get_SW2() get SW2 counter

    get_time10() Get 10ms counter

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    Program Structure Design Document


    Module Structural Diagram
    start() Drive beginning

    Initial Motor speed

    init_drive()

    initial drive

    Left motor interrupt flag Right motor interrupt flag

    Motor speed

    get_iflag_l() Get int flag for left motor

    get_flag_r() Get int flag for right motor

    set_l_speed() Set the right motor speed

    set_r_speed() Set the left motor speed

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    Program Structure Design Document


    Module Structural Diagram
    tracking_ctrl() Running control

    Sensor value

    get_sensor() Get line sensor

    accel_ctrl() Acceleratio n control

    decel_ctrl() Deceleration control

    turn() Get 10ms counter

    stop() stop operation

    accel_ctrl() Acceleration control 10ms counter progress Motor speed Motor speed get_time10() Get 10ms counter get_period_acc() Calculate acceleration speed decel_ctrl() Deceleration control Motor speed

    set_l_speed() Set the right motor speed

    set_r_speed() Set the left motor speed

    10ms counter

    progress Motor speed get_period_dec( ) Calculate deceleration

    Motor speed

    get_time10() Get 10ms counter

    set_l_speed() Set the right motor speed

    set_r_speed() Set the left motor speed

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    Program Structure Design Document


    Module Structural Diagram
    turn() turn 180 degree

    Right motor int flag init_drive() Begin initial drive get_flag_r() Get int flag for right motor stop() stop operation

    tmint_200us() Interrupt every 200us

    Drive mode

    is_run() Check drive or not

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    Program Structure Design Document


    Module Structural Diagram

    tmint_100us() iflag_l

    get_iflag_l()

    tmint_100us() iflag_r

    get_iflag_r()

    tmint_1ms() sensor

    get_sensor()

    tmint_100us()

    set_r_speed()

    tmint_100us()

    set_l_speed()

    tmint_1ms() tsw

    get_tsw()

    buf_r_timer r_direction

    buf_l_timer l_direction

    tmint_1ms()

    get_time2()

    tmint_1ms()

    get_time10()

    tmint_1ms() is_fix

    wait_fix()

    over_2ms

    over_10ms

    int_SW2()

    get_sw2()

    iflag_sw2

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