避障巡线更改

2024-03-23 17:37:31 +08:00
parent c557c01f32
commit 872f35613e
3 changed files with 51 additions and 17 deletions
--- a/app/gl_barrier.c
+++ b/app/gl_barrier.c
@@ -13,3 +13,25 @@ void CheckBarrier() {
    }
 }

+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;
+  }
+ 
+}