2012年飞思卡尔智能车新赛道程序!!!

uchar BlackWidthEstimate = 6;

int BlackSum=0;

int WhiteSum=0;

//uchar BlackCounter[40];

int PixSum[40];

uchar LeftDots[40];

uchar RightDots[40];

uchar BlackLeft[40];

uchar BlackRight[40];

uchar RoadCondition[40];

uchar ValidRoad;

uchar pWellRowStart;

uchar CrossFlag;

uchar CrossPos;

uchar Cross_flag_end=0;

uchar WellRowStart;

uchar WellRowStartCache[4];

uchar WellRowEnd;

uchar WellRowEndCache[4];

uchar SCI1CR2Save;

uint PollutedDots = 0;

long OddIntTime=0;

long EvenIntTime=0;

int PreBottomDrift=0;

int CrossTime;

int WellRowCache[3]=0;

int WellRowErr=0;

uchar JumpCounter=0;

uchar RoadOutFlag=0;

int ValidRoadCounter=0;

uchar StartLineFlag=0;

uchar DebugFlag=0;

int tri_brake=0;

int angle_up=0;

uint Tri_duration= 0;

uint Last_tri_time = 0;

int hang=11;

uchar CFlag=0;

int LeftDotSum=0;

int RightDotSum=0;

uchar RowSum=0;

uchar FirstRow=0; // 估计的每行黑点最大个数=6 个 // 第i行的黑点个数 // 第i行黑线左边缘坐标 // 第i行黑线右边缘坐标 // 第i行黑线情况初步判断