btl143/QDAC-firmware
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避障

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井明江
2024-07-03 16:30:37 +08:00
parent 047a907eac
commit a94db790a6
4 changed files with 97 additions and 99 deletions
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12
app/main.c
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@@ -56,10 +56,10 @@ int main(void)
while (1) {
Page_Run();
by_buzzer_run();
tiny_frame_param[0].f32 = pure_angle;
tiny_frame_param[1].f32 = curvature;
tiny_frame_param[2].u8[0] = (uint8_t)state_type; // 0: 无状态 1: 弯道 2: 直行
tiny_frame_param[2].u8[1] = (uint8_t)garage_type; // 0: 无车库 1: 有车库
tiny_frame_param[0].f32 = pure_angle;
tiny_frame_param[1].f32 = curvature;
tiny_frame_param[2].u8[0] = (uint8_t)state_type; // 0: 无状态 1: 弯道 2: 直行
tiny_frame_param[2].u8[1] = (uint8_t)garage_type; // 0: 无车库 1: 有车库
if (mt9v03x_finish_flag) {
// 该操作消耗大概 1970 个 tick，折合约 110us
memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
@@ -73,7 +73,9 @@ int main(void)
ElementRun();
aim_distance_select();
MidLineTrack();
//bt_printf("type= %d", (int)curvature);
// if (barrier_type) {
// bt_printf("type= %d", barrier_type);
// }
}
}
}