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增加弯道状态

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This commit is contained in:
Glz
2024-03-26 21:39:39 +08:00
parent cbea30033a
commit f5654ba679
3 changed files with 34 additions and 13 deletions
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19
app/gl_garage.c
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@@ -19,6 +19,25 @@ float calculate_vector_angle(float x1, float y1, float x2, float y2)
return angle_degrees; return angle_degrees;
} }
// void CheckGarage()
// {
// int change_num = 0;
// int check_garage_h = 60;
// for (int check_garage_w = 50; check_garage_w < IMAGE_W - 50; check_garage_w++) {
// if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) ||
// (GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD)) {
// change_num++;
// }
// }
// if (change_num > 14) {
// garage_type = GARAGE_FOUND;
// // printf("跳变点的数量为：%d\r\n", change_num);
// }
// change_num = 0;
// }
void CheckGarage() void CheckGarage()
{ {
int change_num = 0; int change_num = 0;

15
app/gl_get_corners.c
View File

@@ -29,6 +29,11 @@ void get_corners() {
if(is_straight0){ if(is_straight0){
state_type = STRAIGHT_STATE; state_type = STRAIGHT_STATE;
} }
if (is_straight0 == false && Lpt0_found == false)
{
is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
}
Lpt0_found_barrier = Lpt1_found_barrier = false; Lpt0_found_barrier = Lpt1_found_barrier = false;
@@ -77,6 +82,10 @@ void get_corners() {
if(is_straight1){ if(is_straight1){
state_type = STRAIGHT_STATE; state_type = STRAIGHT_STATE;
} }
if (is_straight1 == false && Lpt1_found == false)
{
is_turn1 = is_curve(angle_right ,clip(angle_right_num - 10, 0,angle_right_num),0.05);
}
for (int i = 0; i < pts_resample_right_count; i++) { for (int i = 0; i < pts_resample_right_count; i++) {
if (angle_new_right_barrier[i] == 0) continue; if (angle_new_right_barrier[i] == 0) continue;
@@ -99,6 +108,12 @@ void get_corners() {
} }
} }
if (is_turn0 && is_turn1)
{
state_type = TURN_STATE;
}
} }

13
app/gl_state.h
View File

@@ -3,21 +3,8 @@
enum state_type_e { enum state_type_e {
COMMON_STATE = 0, COMMON_STATE = 0,
CROSS_STATE,
HALF_STATE,
CIRCLE_IN_STATE,
CIRCLE_BEGIN_STATE,
CIRCLE_RUNNING_STATE,
CIRCLE_OUT_STATE,
TURN_STATE, TURN_STATE,
STRAIGHT_STATE, STRAIGHT_STATE,
BREAK_STATE,
BAR_STATE,
RAMP_STATE,
GARAGE_OUT_STATE,
GARAGE_IN_STATE,
GARAGE_STOP_STATE,
GARAGE_PASS_STATE,
}; };
extern enum state_type_e state_type; extern enum state_type_e state_type;