From dc874bf6f198cb0bd45c611c0de6ec2db8ae2470 Mon Sep 17 00:00:00 2001
From: Glz <354338225@qq.com>
Date: Mon, 8 Jul 2024 17:54:34 +0800
Subject: [PATCH] =?UTF-8?q?=E9=81=BF=E9=9A=9C=E4=BF=AE=E6=94=B9?=
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---
 app/gl_barrier.c  | 37 ++++++++++++++++++++++++++++++++++---
 app/gl_garage.c   |  2 +-
 app/gl_tracking.c |  5 +++++
 3 files changed, 40 insertions(+), 4 deletions(-)

diff --git a/app/gl_barrier.c b/app/gl_barrier.c
index 4830c2a..28e7130 100644
--- a/app/gl_barrier.c
+++ b/app/gl_barrier.c
@@ -46,7 +46,8 @@ void RunBarrier()
         //         }
         //     }
         // }
-
+    if (pts_resample_left_count >= 5)
+    {
         if (Lpt0_found) {
             Lpt0_found_count++;
         }
@@ -66,6 +67,30 @@ void RunBarrier()
             }
         }
     }
+    else{
+        track_type = TRACK_RIGHT;
+        barrier_type = BARRIER_NONE;
+    }
+    
+        // if (Lpt0_found) {
+        //     Lpt0_found_count++;
+        // }
+        // if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) {
+        //     Lpt0_found_count = 0;
+        //     barrier_type     = BARRIER_LEFT_RUNNING;
+        //     track_type       = TRACK_RIGHT;
+        //     timer_clear(TIM_2);
+        //     timer_start(TIM_2);
+        // } else if (barrier_type == BARRIER_LEFT_RUNNING) {
+        //     track_type   = TRACK_RIGHT;
+        //     if (timer_get(TIM_2) >= 500) {
+        //         barrier_type = BARRIER_NONE;
+        //         track_type   = TRACK_RIGHT;
+        //         timer_stop(TIM_2);
+        //         timer_clear(TIM_2);
+        //     }
+        // }
+    }
 
     if (barrier_type == BARRIER_RIGHT_BEGIN||barrier_type == BARRIER_RIGHT_RUNNING) {
         track_type = TRACK_LEFT;
@@ -90,8 +115,9 @@ void RunBarrier()
         //         }
         //     }
         // }
-
-        if (Lpt1_found) {
+        if (pts_resample_right_count >= 5)
+        {
+            if (Lpt1_found) {
             Lpt1_found_count++;
         }
         if (Lpt1_found_count >= 1 && barrier_type == BARRIER_RIGHT_BEGIN) {
@@ -109,6 +135,11 @@ void RunBarrier()
                 track_type   = TRACK_LEFT;
             }
         }
+        }
+        else{
+            track_type = TRACK_LEFT;
+            barrier_type = BARRIER_NONE;
+        }
     }
 }
 
diff --git a/app/gl_garage.c b/app/gl_garage.c
index afd144a..68bd14c 100644
--- a/app/gl_garage.c
+++ b/app/gl_garage.c
@@ -44,7 +44,7 @@ void CheckGarage()
     int banmaxian_hangshu = 0;//斑马线行数
 
     //从下往上扫描
-        for (int y = BEGINH_L - 6; y >= BEGINH_L - 9; y--)
+        for (int y = BEGINH_L + 2; y >= BEGINH_L - 2; y--)
         {
             int banmaxian_kuandu=0;
             //int banmaxian_hangshu=0;
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index 6682ea8..606d10e 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -309,6 +309,11 @@ void MidLineTrack()
                     // pure_angle_half = last_pure_angle_half;
                 }
         }
+        if (garage_type == GARAGE_FOUND)
+        {
+            pure_angle = 0.f;
+        }
+        
 
         // if (barrier_type == BARRIER_LEFT_BEGIN) {
         //     // dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;