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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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3
.eide/eide.json
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@@ -60,8 +60,7 @@
"libraries/zf_driver", "libraries/zf_driver",
"3rd-lib/crc16", "3rd-lib/crc16",
"app/page", "app/page",
"3rd-lib/lwrb/inc", "3rd-lib/lwrb/inc"
"app/tiny_frame"
], ],
"libList": [ "libList": [
"libraries/zf_device" "libraries/zf_device"

8
app/gl_circle.c
View File

@@ -60,8 +60,8 @@ void RunCircle() {
} }
} else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线 } else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线
{ {
// Track_Type = TRACK_RIGHT; track_type = TRACK_RIGHT;
track_type = TRACK_LEFT; // 看看加一个如果丢线才切换 // track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt1_found) { if (Lpt1_found) {
pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id; 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 } else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
{ {
// track_type = TRACK_LEFT; track_type = TRACK_LEFT;
track_type = TRACK_RIGHT; // 看看加一个如果丢线才切换 // 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) 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; pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;