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# AGV 路径跟踪项目
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AGV（自动导引车）路径跟踪控制系统，包含路径规划、轨迹跟踪和 CAN 通信功能。
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> **📁 项目已重新整理！** 所有文件已按模块分类到合理的目录结构中。
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>
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> - 📂 **源代码** → `src/`
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> - 📂 **文档** → `docs/`
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> - 📂 **头文件** → `include/`
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> - 📂 **库文件** → `lib/`
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>
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> 详细信息请查看 [PROJECT_STRUCTURE.md](PROJECT_STRUCTURE.md) 或 [QUICK_REFERENCE.md](QUICK_REFERENCE.md)
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## 🚀 快速开始
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### 新手入门
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1. 📖 阅读 [docs/guides/START_HERE.txt](docs/guides/START_HERE.txt)
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2. 📖 查看 [docs/guides/QUICK_START.md](docs/guides/QUICK_START.md)
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3. 🔧 按照 [docs/guides/BUILD_INSTRUCTIONS.md](docs/guides/BUILD_INSTRUCTIONS.md) 编译项目
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### CAN 通信示例
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```bash
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# 编译
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./build_can.sh # Linux/MSYS2
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build_can.bat # Windows
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# 运行
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cd build
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./can_demo.exe
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```
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## 📂 项目结构
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```
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agv_path_tracking/
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├── src/ # 源代码
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│ ├── can/ # CAN 通信模块
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│ └── tests/ # 测试代码
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├── include/ # 头文件
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│ └── can/ # CAN 头文件
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├── docs/ # 文档
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│ ├── can/ # CAN 文档
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│ ├── guides/ # 使用指南
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│ ├── fixes/ # 修复记录
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│ └── protocol/ # 协议文档
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├── lib/ # 库文件
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└── build/ # 构建输出
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```
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详细结构请查看 [PROJECT_STRUCTURE.md](PROJECT_STRUCTURE.md)
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## 📚 主要功能
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### 1. CAN 通信模块
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- ✅ CAN 设备控制（USBCAN-2A/2C）
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- ✅ 数据收发管理
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- ✅ AGV 速度控制
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- ✅ 多种工作模式（正常/只听/自发自收）
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**文档**: [docs/can/CAN_README.md](docs/can/CAN_README.md)
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### 2. 路径跟踪系统
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- ✅ 路径曲线生成
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- ✅ 轨迹跟踪算法
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- ✅ AGV 运动学模型
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- ✅ 控制量生成
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**文档**: [docs/guides/TRACKING_TEST_GUIDE.md](docs/guides/TRACKING_TEST_GUIDE.md)
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### 3. 自定义路径
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- ✅ CSV 路径加载
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- ✅ 平滑路径生成
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- ✅ QT 图形界面
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**文档**: [docs/guides/CUSTOM_PATH_README.md](docs/guides/CUSTOM_PATH_README.md)
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## 🔧 编译说明
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### 系统要求
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- C++11 或更高版本
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- MinGW-w64 (Windows) 或 GCC (Linux)
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- CMake 3.10+ （可选）
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### 编译 CAN 模块
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```bash
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# Windows
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build_can.bat
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# Linux/MSYS2
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chmod +x build_can.sh
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./build_can.sh
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```
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### 编译主程序
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```bash
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chmod +x build.sh
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./build.sh
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```
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详细说明: [docs/guides/BUILD_INSTRUCTIONS.md](docs/guides/BUILD_INSTRUCTIONS.md)
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## 📖 文档导航
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### 🎯 快速参考
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- [QUICK_REFERENCE.md](QUICK_REFERENCE.md) - 快速参考指南
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- [PROJECT_STRUCTURE.md](PROJECT_STRUCTURE.md) - 完整项目结构
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### 📘 使用指南
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- [docs/guides/START_HERE.txt](docs/guides/START_HERE.txt) - 新手入门
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- [docs/guides/QUICK_START.md](docs/guides/QUICK_START.md) - 快速开始
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- [docs/guides/BUILD_INSTRUCTIONS.md](docs/guides/BUILD_INSTRUCTIONS.md) - 编译说明
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### 🔌 CAN 通信
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- [docs/can/CAN_README.md](docs/can/CAN_README.md) - CAN 使用说明
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- [docs/can/CAN_API_Reference.cpp](docs/can/CAN_API_Reference.cpp) - API 快速参考
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- [docs/protocol/CAN_Protocol.pdf](docs/protocol/CAN_Protocol.pdf) - CAN 协议规范
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### 🛠️ 修复记录
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- [docs/fixes/ALL_FIXES_SUMMARY.md](docs/fixes/ALL_FIXES_SUMMARY.md) - 所有修复总结
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- [docs/fixes/FINAL_REPORT.md](docs/fixes/FINAL_REPORT.md) - 最终报告
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### 🎨 自定义路径
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- [docs/custom_path/README.md](docs/custom_path/README.md) - 自定义路径文档
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- [docs/custom_path/QUICKSTART_CUSTOM_PATH.md](docs/custom_path/QUICKSTART_CUSTOM_PATH.md) - 快速开始
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## 🎯 常见任务
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### 运行 CAN 示例
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```bash
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cd build
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./can_demo.exe
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# 选择示例：
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# 1. 基本 CAN 通信测试
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# 2. AGV 速度控制
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# 3. CAN 总线监控
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# 4. 周期性发送和接收
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```
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### AGV 速度控制示例
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```cpp
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#include "can/CANController.h"
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CANController can;
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can.Initialize(0x00, 0x1C, 0); // 500Kbps
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// 发送速度控制命令
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BYTE data[8] = {0x10, 0, 100, 0, 100, 0, 0, 0}; // 左右轮 100 RPM
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can.SendStandardFrame(0x200, data, 8);
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```
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### 监控 CAN 总线
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```cpp
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// 只听模式（不影响总线）
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can.Initialize(0x00, 0x1C, 1);
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std::vector<VCI_CAN_OBJ> frames;
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while (running) {
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can.Receive(frames, 100);
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// 处理接收到的数据
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}
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```
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## 📊 项目统计
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- **源代码文件**: 10+ 个 C++ 源文件
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- **文档文件**: 30+ 个 Markdown/文本文档
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- **模块数量**: 3 个主要模块（路径跟踪、CAN 通信、自定义路径）
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- **示例程序**: 4+ 个完整示例
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## 🔗 相关链接
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- CAN 设备驱动: ControlCAN (USBCAN-2A/2C)
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- 编译工具: MinGW-w64, GCC
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- 构建系统: CMake, Shell Scripts
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## 📝 更新日志
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### 2025-11-14 - 项目重组
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- ✅ 重新组织项目文件结构
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- ✅ 文档归类到 `docs/` 目录
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- ✅ 代码归类到 `src/` 目录
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- ✅ 头文件复制到 `include/` 目录
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- ✅ 更新所有编译脚本
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- ✅ 创建项目结构文档
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### 之前更新
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- ✅ 实现 CAN 通信模块
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- ✅ 添加 AGV 控制示例
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- ✅ 修复路径跟踪问题
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- ✅ 添加自定义路径功能
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详细修复记录: [docs/fixes/](docs/fixes/)
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## 🤝 贡献
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欢迎贡献代码和文档！
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## 📄 许可证
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本项目仅供学习和研究使用。
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---
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**最后更新**: 2025-11-14
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**项目状态**: 活跃开发中
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**快速参考**:
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- 📖 [QUICK_REFERENCE.md](QUICK_REFERENCE.md)
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- 📁 [PROJECT_STRUCTURE.md](PROJECT_STRUCTURE.md)
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- 🚀 [docs/guides/QUICK_START.md](docs/guides/QUICK_START.md)
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