修改变量名并修正陀螺仪逻辑

RBcore/BHBF.c

@@ -55,7 +55,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
         return;
     }
 
-    static int iSpeed = -1; // 表示由RD1转换来的速度值
+    static int iVehicleSpeed = -1; // 表示由RD1转换来的速度值
     int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
     switch (pstMsg->m_uiMsgID)
     {
@@ -67,20 +67,20 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 		}
         case RBCORE_CMD_MANUAL_FORWARD:
         {
-        	if (iSpeed >= 0)
+        	if (iVehicleSpeed >= 0)
         	{
-        		aiMotorSpeed[0] = iSpeed;
-        		aiMotorSpeed[1] = iSpeed;
+        		aiMotorSpeed[0] = iVehicleSpeed * 10;
+        		aiMotorSpeed[1] = iVehicleSpeed * 10;
         		MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
         	}
             break;
         }
         case RBCORE_CMD_MANUAL_BACKWARD:
         {
-        	if (iSpeed >= 0)
+        	if (iVehicleSpeed >= 0)
 			{
-				aiMotorSpeed[0] = -iSpeed;
-				aiMotorSpeed[1] = -iSpeed;
+				aiMotorSpeed[0] = -iVehicleSpeed * 10;
+				aiMotorSpeed[1] = -iVehicleSpeed * 10;
 				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
 			}
             break;
@@ -109,8 +109,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 		{
 			if (pstMsg->m_uiDataLen >= sizeof(int))
 			{
-				RD_MEMCPY(&iSpeed, pstMsg->m_aucData, sizeof(int));
-				iSpeed *= 10;
+				RD_MEMCPY(&iVehicleSpeed, pstMsg->m_aucData, sizeof(int));
 			}
 			break;
 		}

RBcore/TL720D.c

@@ -89,6 +89,12 @@ static int16_t getDeci(uint8_t *data)
 static int check_TL720D(char *_pBuffer, uint32_t _iSize)
 {
 	uint8_t check_sum = 0;
+
+	if (_pBuffer[0] != 0x68) return -1;
+	if (_pBuffer[1] != 0x1f) return -1;
+	if (_pBuffer[2] != 0x00) return -1;
+	if (_pBuffer[3] != 0x84) return -1;
+
 	for(uint8_t i = 1; i < 31; i++)
 	{
 		check_sum += (uint8_t)_pBuffer[i];
@@ -99,11 +105,6 @@ static int check_TL720D(char *_pBuffer, uint32_t _iSize)
 		return 0;
 	}
 
-	if (_pBuffer[0] != 0x68) return -1;
-	if (_pBuffer[1] != 0x1f) return -1;
-	if (_pBuffer[2] != 0x00) return -1;
-	if (_pBuffer[3] != 0x84) return -1;
-
 	return 32;
 }
 
@@ -139,7 +140,6 @@ void Read_TL720D(void *argument)
     while(1)
     {
         rd_ComRead(g_ptrs485_1, pcBuffer, 64);
-        Rd_Delay(1);
     }
 }
 

project/paint_robot_new/paint_robot_new_motors.c

@@ -63,7 +63,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
         return;
     }
 
-    static int iSpeed = 1;
+    static int iVehicleSpeed = 1;
 	static uint32_t uiLastTime = 0;
     switch (pstMsg->m_uiMsgID)
     {
@@ -101,7 +101,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
         {
         	if (pstMsg->m_uiDataLen >= sizeof(int))
 			{
-				RD_MEMCPY(&iSpeed, pstMsg->m_aucData, sizeof(int));
+				RD_MEMCPY(&iVehicleSpeed, pstMsg->m_aucData, sizeof(int));
 			}
         	break;
         }
@@ -120,7 +120,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 
 			if (1 == iIsDelayStop)
 			{
-				if (Rd_GetTime() - uiLastTime >= 600 * g_stCV.Paint_Gun_Shutdown_Distance / iSpeed)
+				if (Rd_GetTime() - uiLastTime >= 600 * g_stCV.Paint_Gun_Shutdown_Distance / iVehicleSpeed)
 				{
 					memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
 					iIsDelayStop = 0;
@@ -143,8 +143,8 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 		}
 		case COMMON_CMD_SHOW_INFO:
 		{
-			lua_print("iSpeed = %d\nuiLastTime = %d\ng_isMotorInit = %d\ng_iLastVehicleMove = %d\n",
-				iSpeed, uiLastTime, g_isMotorInit, g_iLastVehicleMove);
+			lua_print("iVehicleSpeed = %d\nuiLastTime = %d\ng_isMotorInit = %d\ng_iLastVehicleMove = %d\n",
+				iVehicleSpeed, uiLastTime, g_isMotorInit, g_iLastVehicleMove);
 			break;
 		}
         default: