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K60单片机智能车代码

版本 v0.2

调节新代码结构到可用

更新:

  • 卡尔曼滤波+平衡环PID 状态正常
  • 速度环暂未测试,应该没有大问题
  • 方向环没有进展,最小二乘法仍然无法使用

版本 v0.1

本次代码进行了多处改动, 主要为了将代码分块, 实现模块的正交化.

需要调试的地方有:

  • 卡尔曼滤波器
  • 图像处理算法
  • 平衡环参数
  • 速度环参数
  • 方向环参数

可以考虑优化的有:

  • 图像处理算法: 最小二乘法是否最优,可信区间是否满足要求

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