Freescale smart car CCD program

soft start

Double the sampling rate

50Hz

Steering gear correction is more convenient

Serial port modification PID

Improve anti-interference ability

speed adaptive

After the speed detection circuit is improved

Wireless setting parameters (OK)

//Use the front row to follow the line (changed to the first 3 rows, 2007.5.7)

PIDs are expanded 10 times (changed to adaptive PID 2007.5.2)

Braking intensifies (2007.5.7)

m_cSampNum = -24;(changed to -25)

Enhanced anti-interference ability (can come back after running off the runway 2007.5.7)

Add filtering algorithm (unsuccessful 2007.5.20)

External AD(2007.5.23)

//50X40

//Use the maximum and minimum center methods to control steering

Control steering using inertial filtering method

The external AD data port is changed to AD0

High resolution 72X40 2007.5.25

Lower the threshold 20->15

speed smoothing

Reduce the number of rows

Delete lines at intervals to reduce trapezoidal distortion 2007.5.30

Two laps 25.12 seconds 2007.6.1

CarCCDtest11_change3_72X40_EXAD5_7C6huang Modified from 2007-7-30

Use the PD control algorithm and use the center of the sub-left and sub-right of the effective row as the control quantity to control the direction.