QDAC-firmware/app/gl_barrier.c

#include "zf_common_headfile.h"
#include "gl_headfile.h"

enum barrier_type_e barrier_type = BARRIER_NONE;


void CheckBarrier() {
    if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
        barrier_type = BARRIER_LEFT_BEGIN;
    }
    if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
        barrier_type = BARRIER_RIGHT_BEGIN;
    }
}

void RunBarrier() {
  if (barrier_type == BARRIER_LEFT_BEGIN) // 左环开始，寻外直道右线
  {
    track_type = TRACK_RIGHT;
  }
  else if (barrier_type == BARRIER_LEFT_BEGIN && ((Lpt0_found_barrier && is_straight1) || Lpt0_found) )
  {
   barrier_type = BARRIER_NONE;
   track_type = TRACK_RIGHT;
  }

  if (barrier_type == BARRIER_RIGHT_BEGIN) // 左环开始，寻外直道右线
  {
    track_type = TRACK_LEFT;
  }
  else if (barrier_type == BARRIER_RIGHT_BEGIN && ((Lpt1_found_barrier && is_straight0) || Lpt1_found) )
  {
   barrier_type = BARRIER_NONE;
   track_type = TRACK_LEFT;
  }
 
}