基于SnapDragonBoard410c的智能小车（一）

今天我就基于高通410c的开发板开发的智能小车给大家分享下我们的开发过程。在开发中遇到最大的问题就是我么的智能小车是采用舵机控制的，导致我们往里面写一个值的时候电机一直以这个值做功。正因为如此，我们便开始编写自己的壁障算法——这当然要借助于超声波模块。

我们的智能小车的硬件组成有四个超声波模块，和小车。

我们的智能小车如没有自己的壁障算法，就很有可能出现下面的情况



我们先要读取超声波节点的数据：

public static String Redata(String path) {
String content = new String();
String line = new String();
InputStreamReader is = null;
File file = new File(path);
if (file.exists()) {
try {
is = new InputStreamReader(new FileInputStream(file));
} catch (FileNotFoundException e) {
e.printStackTrace();
}
BufferedReader bufferedReader = new BufferedReader(is);
try {
while ((line = bufferedReader.readLine()) != null) {
content = content + line;

}
} catch (IOException e) {
e.printStackTrace();
}
try {
bufferedReader.close();
} catch (IOException e) {
e.printStackTrace();
}
}

return content;
}

壁障规避：

timer = new Timer();
timer.schedule(new TimerTask() {
@Override
public void run() {
String a[] = Config.location().split("@");
if (a[0].equals("1")) {
if (a[2].equals("3")){
Api.right(15000000);
}else if (a[3].equals("4")){
Api.left(15000000);
}
}
}
}, 0, 200);

更改运行状态：

private static String leftback = "/sys/class/pwm/pwmchip1/pwm0/duty";
private static String leftforward = "/sys/class/pwm/pwmchip1/pwm1/duty";
private static String rightforward = "/sys/class/pwm/pwmchip1/pwm2/duty";
private static String rightback = "/sys/class/pwm/pwmchip1/pwm3/duty";
private static String voice = "/sys/devices/soc.0/sonar.*/value";
private static String red_light = "/sys/devices/soc.0/ir-red.*/value";

public static void forward(long speeed) {
stop();
Config.WriteData(leftforward, "" + speeed);
Config.WriteData(rightforward, "" + speeed);
}

public static void back(long speeed) {
stop();
Config.WriteData(leftback, "" + speeed);
Config.WriteData(rightback, "" + speeed);
}

public static void left(long speeed) {
stop();
Config.WriteData(leftforward, "" + 0);
Config.WriteData(rightforward, "" + speeed);
}

public static void right(long speeed) {
stop();
Config.WriteData(leftforward, "" + speeed);
Config.WriteData(rightforward, "" + 0);
}

public static void stop() {
Config.WriteData(leftback, "" + 0);
Config.WriteData(leftforward, "" + 0);
Config.WriteData(rightforward, "" + 0);
Config.WriteData(rightback, "" + 0);
}