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圆环巡线部分更改

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Glz
2024-03-15 11:09:05 +08:00
parent 17b61529e2
commit 0faecbd1be
2 changed files with 5 additions and 6 deletions
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8
app/gl_circle.c
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@@ -60,8 +60,8 @@ void RunCircle() {
}
} else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线
{
// Track_Type = TRACK_RIGHT;
track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
track_type = TRACK_RIGHT;
// track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt1_found) {
pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id;
}
@@ -126,8 +126,8 @@ void RunCircle() {
}
} else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
{
// track_type = TRACK_LEFT;
track_type = TRACK_RIGHT; // 看看加一个如果丢线才切换
track_type = TRACK_LEFT;
// track_type = TRACK_RIGHT; // 看看加一个如果丢线才切换
if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
{
pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;