智能機(jī)器人課程設(shè)計(jì)報(bào)告

1、天津師范大學(xué)計(jì)算機(jī)與信息工程學(xué)院課程設(shè)計(jì)報(bào)告課程名稱： 機(jī)器人設(shè)設(shè)計(jì) 設(shè)計(jì)題目： 專專 業(yè)業(yè)： 信息工工程 班 級(jí)： 08（11）班 組 別： 學(xué)生姓名: 吳雪萍 學(xué) 號(hào): 0855092055 起止日期: 2011年3月1日 2011年 7月1日指導(dǎo)教師: 劉巖愷 梁景景蓮 同組人員： 課程設(shè)計(jì)題目機(jī)器人設(shè)計(jì)實(shí)驗(yàn)驗(yàn)姓名吳雪萍學(xué)號(hào)085092005班級(jí)08信息（1）班班班級(jí)專業(yè)信息工程組別組長組員指導(dǎo)教師劉巖愷 梁景蓮蓮課程設(shè)計(jì)目的設(shè)計(jì)家庭組機(jī)器器人和機(jī)器人人行走課程設(shè)計(jì)環(huán)境Vc+課程設(shè)計(jì)任務(wù)和和要求用C+語言設(shè)設(shè)計(jì)一個(gè)顏色色識(shí)別的程序序和一個(gè)機(jī)器器人行走程序序課程設(shè)計(jì)內(nèi)容描描述：緒論 通通過

2、學(xué)習(xí)機(jī)器器人設(shè)計(jì)2課課程，學(xué)會(huì)了了家庭組機(jī)器器人和足球機(jī)機(jī)器人的一些些理論知識(shí)。了了解了機(jī)器人人方向識(shí)別，動(dòng)動(dòng)手調(diào)試了全全景攝像頭和和前置攝像頭頭，設(shè)置了場場地、球門、白白線、足球等等的顏色數(shù)值值。顏色識(shí)別的產(chǎn)生生 結(jié)合梁老師師給的人臉識(shí)識(shí)別程序，通通過改變?nèi)四樐樐Ｐ徒㈩侇伾R(shí)別程序序。 平臺(tái)的選擇及搭搭建 根據(jù)劉老師師給的參考資資料，首先安安裝了DirrectX99.0 SDDK和Visuaal C+軟件，然后后一步步的按按照老師所給給的步驟，先先建立基本界界面，接著編編制串口通訊訊控制機(jī)器人人的程序，讀讀取距離傳感感器信息等，最最后得出了機(jī)機(jī)器人行走程程序如下。課程設(shè)計(jì)源程序序：機(jī)器人行

3、走走/ VoyTTestDllg.cppp : immplemeentatiion fiile/#includde sttdafx.h#includde VooyTestt.h#includde VooyTesttDlg.hh#ifdef _DEBUUG#definee new DEBUGG_NEW#undef THIS_FILEstatic char THIS_FILE = _FILEE_;#endif/ CAbooutDlgg diallog ussed foor Appp Abouutclass CCAbouttDlg : publlic CDDialoggpublic:CAbouttD

4、lg();/ Diallog Daata/AFFX_DATTA(CAbboutDllg)enum IDD = IDDD_ABOUUTBOX ;/AFFX_DATTA/ ClaassWizzard ggeneraated vvirtuaal funnctionn overrridess/AFFX_VIRRTUAL(CAbouutDlg)proteccted:virtuaal voiid DoDDataExxchangge(CDaataExcchangee* pDXX); / DDDX/DDDV suppport/AFFX_VIRRTUAL/ Impllementtationnprotectted

5、:/AFFX_MSGG(CAbooutDlgg)/AFFX_MSGGDECLARRE_MESSSAGE_MAP();CAboutDDlg:CCAbouttDlg() : CDDialogg(CAbooutDlgg:IDDD)/AFFX_DATTA_INIIT(CAbboutDllg)/AFFX_DATTA_INIITvoid CAAboutDDlg:DDoDataaExchaange(CCDataEExchannge* ppDX)CDialoog:DooDataEExchannge(pDDX);/AFFX_DATTA_MAPP(CAbooutDlgg)/AFFX_DATTA_MAPPBEGIN

6、_MMESSAGGE_MAPP(CAbooutDlgg, CDiialog)/AFFX_MSGG_MAP(CAbouutDlg)/ Noo messsage hhandleers/AFFX_MSGG_MAPEND_MESSSAGE_MAP()/ CVoyyTestDDlg diialogCVoyTesstDlg:CVoyyTestDDlg(CWWnd* ppParennt /*=NULL*/): CDiaalog(CCVoyTeestDlgg:IDDD, pPaarent)/AFFX_DATTA_INIIT(CVooyTesttDlg)m_nPorrt = 00;/AFFX_DATTA_INI

7、IT/ Notte thaat LoaadIconn doess not requiire a subseequentt DesttroyIccon inn Win332m_hIcoon = AAfxGettApp()-LoaadIconn(IDR_MAINFFRAME);void CVVoyTesstDlg:DoDaataExcchangee(CDattaExchhange* pDX)CDialoog:DooDataEExchannge(pDDX);/AFFX_DATTA_MAPP(CVoyyTestDDlg)DDX_Teext(pDDX, IDDC_PORRT, m_nPortt);/AF

8、FX_DATTA_MAPPBEGIN_MMESSAGGE_MAPP(CVoyyTestDDlg, CCDialoog)/AFFX_MSGG_MAP(CVoyTTestDllg)ON_WM_SYSCOOMMANDD()ON_WM_PAINTT()ON_WM_QUERYYDRAGIICON()ON_BN_CLICKKED(IDDC_OPEEN, OnnOpen)ON_BN_CLICKKED(IDDC_FORRWARD, OnFoorwardd)ON_BN_CLICKKED(IDDC_BACCKWARDD, OnBBackwaard)ON_BN_CLICKKED(IDDC_TURRELEFTT, O

9、nTTureleeft)ON_BN_CLICKKED(IDDC_TURRERIGHHT, OnnTurerright)ON_BN_CLICKKED(IDDC_BRAAKE, OOnBrakke)/AFFX_MSGG_MAPEND_MESSSAGE_MAP()/ CVoyyTestDDlg meessagee handdlersBOOL CVVoyTesstDlg:OnInnitDiaalog()CDialoog:OnnInitDDialogg();/ Addd Aboout. mennu iteem to systeem mennu./ IDMM_ABOUUTBOX must be inn t

10、he systeem commmand rangee.ASSERTT(IDMM_ABOUUTBOX & 0 xFFFF0) = IDDM_ABOOUTBOXX);ASSERTT(IDM_ABOUTTBOX AppeendMennu(MF_SEPARRATOR);pSyssMenu-AppeendMennu(MF_STRINNG, IDDM_ABOOUTBOXX, strrAbouttMenu);/ Sett the icon for tthis ddialogg. Thhe fraameworrk doees thiis auttomatiicallyy/ whhen thhe appplic

11、attionss mainn winddow iss not a diaalogSetIcoon(m_hhIcon, TRUEE);/ Seet bigg iconnSetIcoon(m_hhIcon, FALSSE);/ Seet smaall iccon/ TODDO: Addd exttra innitiallizatiion heerereturnn TRUEE; / retuurn TRRUE uunlesss you set tthe foocus tto a ccontroolvoid CVVoyTesstDlg:OnSyysCommmand(UUINT nnID, LLPARA

12、MM lParram)if (nnID & 0 xFFFF0) = IDM_ABOUTTBOX)CAbouutDlg dlgAbbout;dlgAbbout.DDoModaal();elseCDiallog:OOnSysCCommannd(nIDD, lPaaram);/ If yyou addd a mminimiize buutton to yoour diialog, you will need the ccode bbelow/ to draw the iicon. For MFC aappliccationns usiing thhe doccumentt/vieww modeel,

13、/ thiis is autommaticaally ddone ffor yoou by the fframewwork.void CVVoyTesstDlg:OnPaaint() if (IssIconiic()CPainntDC ddc(thiis); / devvice ccontexxt forr painntingSendMMessagge(WM_ICONEERASEBBKGND, (WPAARAM) dc.GeetSafeeHdc(), 0);/ Ceenter icon in cllient rectaangleint ccxIconn = GeetSysttemMettric

14、s(SM_CXXICON);int ccyIconn = GeetSysttemMettrics(SM_CYYICON);CRectt rectt;GetCllientRRect(&rect);int xx = (rrect.WWidth() - ccxIconn + 1) / 2;int yy = (rrect.HHeightt() - cyIcoon + 11) / 22;/ Drraw thhe icoondc.DrrawIcoon(x, y, m_hIconn);elseCDiallog:OOnPainnt();/ The systeem callls thhis too obtaai

15、n thhe currsor tto dissplay whilee the user dragss/ thee miniimizedd winddow.HCURSORR CVoyyTestDDlg:OOnQuerryDraggIcon()returnn (HCUURSOR) m_hIIcon;void CVVoyTesstDlg:OnOppen() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereeUpdateeData();/CStrring sstr;/str.Formaat(您打打開的串口號(hào)號(hào)為%d,m_n

16、Poort);/AfxMMessaggeBox(str); m_CCom.SeetCmd(&m_Cmmd); /協(xié)議層與通通訊層對接 m_CCom.Crreate(m_nPoort); /打開通訊串串口void CVVoyTesstDlg:OnFoorwardd() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(1100,1000); /前行void CVVoyTesstDlg:OnBaackwarrd() / TODDO: Addd youur conn

17、trol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(-100,-100);/后退void CVVoyTesstDlg:OnTuurelefft() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(-100,1100);/左轉(zhuǎn)void CVVoyTesstDlg:OnTuurerigght() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.SetBoothMottorsSppeed(1100,-1100);/右轉(zhuǎn)void CVVoyTesstDlg:OnBrrake() / TODDO: Addd youur conntrol notifficatiion haandlerr codee hereem_Cmd.Brakee(1);/剎車總結(jié)：程序調(diào)試及運(yùn)行行結(jié)果通過程序運(yùn)行，我我們可以看到到足球機(jī)器人人前進(jìn)，后退退，左轉(zhuǎn)，右右轉(zhuǎn)及剎車等等動(dòng)作的分解解。小結(jié)：通過完成成本次實(shí)驗(yàn)，我我認(rèn)識(shí)到理論論與實(shí)踐的