feat: 开启速度闭环

fix: 暂时修复通信卡死问题
2024-03-05 21:28:08 +08:00
parent 6c0cfe1248
commit bab1667efb
7 changed files with 112 additions and 23 deletions
--- a/app/page/page_dparam.c
+++ b/app/page/page_dparam.c
@@ -0,0 +1,95 @@
+#include "jj_param.h"
+#include "page_ui_widget.h"
+#include "jj_motion.h"
+#include "page.h"
+
+#include <math.h>
+
+#define LINE_HEAD 0
+#define LINE_END  DATA_NUM - 2
+static char Text[]        = "dParam";
+static int8_t Curser      = LINE_HEAD; // 定义光标位置
+static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
+/***************************************************************************************
+ *
+ *                                  以下为页面模板函数
+ *
+ ***************************************************************************************/
+/**
+ * @brief  页面初始化事件
+ * @param  无
+ * @retval 无
+ */
+static void Setup()
+{
+    ips200_clear();
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+}
+
+/**
+ * @brief  页面退出事件
+ * @param  无
+ * @retval 无
+ */
+static void Exit()
+{
+}
+
+/**
+ * @brief  页面循环执行的内容
+ * @param  无
+ * @retval 无
+ */
+static void Loop()
+{
+    ips200_show_string(0, 40, "far");
+    ips200_show_float(80, 40, in_angle, 4, 1);
+    ips200_show_string(0, 60, "near");
+    ips200_show_float(80, 60, in_pos, 4, 1);
+    ips200_show_string(0, 80, "gyrz");
+    ips200_show_float(80, 80, in_gyro, 4, 2);
+    ips200_show_string(0, 100, "speed");
+    ips200_show_float(80, 100, in_speed, 4, 4);
+    ips200_show_string(0, 120, "outang");
+    ips200_show_float(80, 120, out_angle, 4, 1);
+    ips200_show_string(0, 140, "outgyr");
+    ips200_show_float(80, 140, out_gyro, 4, 1);
+    ips200_show_string(0, 160, "outpos");
+    ips200_show_float(80, 160, out_pos, 4, 1);
+}
+/**
+ * @brief  页面事件
+ * @param  btn:发出事件的按键
+ * @param  event:事件编号
+ * @retval 无
+ */
+static void Event(page_event event)
+{
+
+    Curser_Last = Curser;
+    if (page_event_forward == event) {
+        Curser--; // 光标上移
+    } else if (page_event_backward == event) {
+        Curser++; // 光标下移
+    } else if (page_event_press_short == event) {
+        sport_pid_init();
+    } else if (page_event_press_long == event) {
+        Page_Shift(page_menu);
+    }
+    if (Curser < LINE_HEAD) {
+        Curser = LINE_END;
+    } else if (Curser > LINE_END) {
+        Curser = LINE_HEAD;
+    }
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+}
+
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_dparam(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}