AIC 备赛经验

备赛周期（约8-10个月）：

第1-2月：规则研读与方案设计
├── 仔细研读比赛规则
├── 技术方案选型
└── 元器件采购清单

第3-5月：硬件开发与调试
├── 主板设计制作
├── 传感器选型调试
├── 电机驱动调试
└── 机械结构加工

第6-7月：算法开发与优化
├── 图像处理算法
├── 控制算法（PID/模糊）
├── 路径规划算法
└── 特殊元素识别

第8-9月：整车联调与优化
├── 整车集成调试
├── 参数整定优化
├── 稳定性测试
└── 速度提升

第10月：赛前准备
├── 模拟比赛
├── 故障预案
└── 心理素质训练

// MT9V034 摄像头初始化示例
void MT9V034_Init(void) {
    // 配置摄像头参数
    MT9V034_WriteReg(0x01, 0x0080);  // 曝光时间
    MT9V034_WriteReg(0x02, 0x0000);  // 增益
    MT9V034_WriteReg(0x03, 0x01E0);  // 图像高度 (480)
    MT9V034_WriteReg(0x04, 0x0280);  // 图像宽度 (640)
    
    // DMA配置
    DMA_InitTypeDef DMA_InitStruct;
    DMA_InitStruct.Channel = DMA_Channel_0;
    DMA_InitStruct.Direction = DMA_PERIPH_TO_MEMORY;
    DMA_InitStruct.PeriphInc = DMA_PINC_DISABLE;
    DMA_InitStruct.MemInc = DMA_MINC_ENABLE;
    DMA_InitStruct.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
    DMA_InitStruct.MemDataAlignment = DMA_MDATAALIGN_BYTE;
    DMA_InitStruct.Mode = DMA_CIRCULAR;
    DMA_InitStruct.Priority = DMA_PRIORITY_HIGH;
    HAL_DMA_Init(&DMA_InitStruct);
}

# Python仿真代码，实际在单片机用C实现
import cv2
import numpy as np

def process_image(frame):
    # 1. 灰度转换
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    
    # 2. 二值化
    _, binary = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)
    
    # 3. 边缘检测
    edges = cv2.Canny(binary, 50, 150)
    
    # 4. 提取中线
    midline = extract_midline(edges)
    
    return midline

def extract_midline(edges):
    """提取赛道中线"""
    height, width = edges.shape
    midline = []
    
    for row in range(height - 1, -1, -10):  # 从下到上，每隔10行
        left = find_left_edge(edges[row, :])
        right = find_right_edge(edges[row, :])
        if left != -1 and right != -1:
            midline.append((row, (left + right) // 2))
    
    return midline

class ServoController {
public:
    // PID参数
    float Kp = 1.0f;
    float Ki = 0.0f;
    float Kd = 0.5f;
    
    float calculate(int error) {
        integral += error;
        float derivative = error - lastError;
        lastError = error;
        
        float output = Kp * error + Ki * integral + Kd * derivative;
        
        // 限幅
        if (output > SERVO_MAX) output = SERVO_MAX;
        if (output < SERVO_MIN) output = SERVO_MIN;
        
        return output;
    }
    
private:
    float integral = 0;
    float lastError = 0;
};

// 差速控制
void differential_control(float speed, float steering) {
    float leftSpeed, rightSpeed;
    
    if (steering > 0) {  // 右转
        leftSpeed = speed;
        rightSpeed = speed * (1 - steering / MAX_STEERING);
    } else {  // 左转
        leftSpeed = speed * (1 + steering / MAX_STEERING);
        rightSpeed = speed;
    }
    
    set_motor_speed(LEFT_MOTOR, leftSpeed);
    set_motor_speed(RIGHT_MOTOR, rightSpeed);
}

推荐排布（T型）：

      L1
       |
  L2---+---L3
       |
      L4

L1,L4: 纵向电感，检测直道和弯道
L2,L3: 横向电感，检测横向偏差

class EM_Sensor {
public:
    float filter(float raw) {
        // 滑动平均滤波
        buffer[bufferIndex] = raw;
        bufferIndex = (bufferIndex + 1) % BUFFER_SIZE;
        
        float sum = 0;
        for (int i = 0; i < BUFFER_SIZE; i++) {
            sum += buffer[i];
        }
        return sum / BUFFER_SIZE;
    }
    
    float get_error() {
        // 归一化处理
        float left = filter(L2_value) / L2_max;
        float right = filter(L3_value) / L3_max;
        
        // 计算偏差
        return (left - right) / (left + right + 0.001f);
    }

private:
    float buffer[BUFFER_SIZE];
    int bufferIndex = 0;
};

# 串口数据可视化
import serial
import matplotlib.pyplot as plt
from collections import deque

class Debugger:
    def __init__(self, port):
        self.ser = serial.Serial(port, 115200)
        self.data = deque(maxlen=1000)
        
    def plot(self):
        plt.ion()
        while True:
            line = self.ser.readline().decode().strip()
            if line:
                value = float(line)
                self.data.append(value)
                
                plt.clf()
                plt.plot(self.data)
                plt.pause(0.01)