btl143/QDAC-firmware
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Glz
2024-06-16 21:52:42 +08:00
parent 3fe85dc7db
commit b155d3ce14
18 changed files with 205 additions and 108 deletions
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8
app/gl_data.c
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@@ -6,6 +6,11 @@ int32_t pts_left[PT_MAXLEN][2];
int32_t pts_right[PT_MAXLEN][2];
int32_t pts_left_count;
int32_t pts_right_count;
int32_t pts_left_curvature[PT_MAXLEN][2];
int32_t pts_right_curvature[PT_MAXLEN][2];
int32_t pts_left_count_curvature;
int32_t pts_right_count_curvature;
int32_t mid_s_count;
int32_t pts_far_left[PT_MAXLEN][2];
int32_t pts_far_right[PT_MAXLEN][2];
int32_t pts_far_left_count;
@@ -43,6 +48,8 @@ int32_t pts_far_resample_right_count;
float mid_left[PT_MAXLEN][2];
float mid_right[PT_MAXLEN][2];
float mid_s[PT_MAXLEN][2];
int32_t mid_left_count;
int32_t mid_right_count;
@@ -112,5 +119,6 @@ float rptsn[PT_MAXLEN][2];
int32_t rptsn_num;
float aim_distance;
float aim_judge_far=0.3f;
float FIX_BINTHRESHOLD = 140;
track_type_e track_type = TRACK_RIGHT;