btl143/QDAC-firmware
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避障修改

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This commit is contained in:
Glz
2024-05-25 21:24:21 +08:00
parent d4afb39f8f
commit 5bb145fc5d
2 changed files with 4 additions and 3 deletions
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4
app/gl_barrier.c
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@@ -30,7 +30,7 @@ void RunBarrier()
} else if (barrier_type == BARRIER_LEFT_RUNNING) { } else if (barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT; track_type = TRACK_RIGHT;
time_barrier = timer_get(TIM_3); time_barrier = timer_get(TIM_3);
if (time_barrier >= 1000) { if (time_barrier >= 250) {
barrier_type = BARRIER_NONE; barrier_type = BARRIER_NONE;
track_type = TRACK_RIGHT; track_type = TRACK_RIGHT;
timer_start(TIM_3); timer_start(TIM_3);
@@ -53,7 +53,7 @@ void RunBarrier()
} else if (barrier_type == BARRIER_RIGHT_RUNNING) { } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT; track_type = TRACK_LEFT;
time_barrier = timer_get(TIM_3); time_barrier = timer_get(TIM_3);
if (time_barrier >= 1000) { if (time_barrier >= 250) {
timer_start(TIM_3); timer_start(TIM_3);
timer_clear(TIM_3); timer_clear(TIM_3);
barrier_type = BARRIER_NONE; barrier_type = BARRIER_NONE;

3
app/gl_tracking.c
View File

@@ -248,9 +248,10 @@ void MidLineTrack()
float temp_near = 0; float temp_near = 0;
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) { if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset; dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 10; pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 20;
} else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING ) { } else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING ) {
dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset; dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f + 20;
} else { } else {
if (fabs(cx - near_x1) > fabs(cx - near_x2)) if (fabs(cx - near_x1) > fabs(cx - near_x2))
{ {