From 6bf8ab7f1faa3da17914e33821586e5f1e5bdb9d Mon Sep 17 00:00:00 2001
From: "LIN\\54376" <543769318@qq.com>
Date: Fri, 26 Sep 2025 16:55:07 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B3=A8=E9=87=8A=E6=8E=89MX=5FQUADSPI=5FInit(?=
=?UTF-8?q?);=E6=96=B0=E5=A2=9E=EF=BC=9A=E5=9C=A8=E8=87=AA=E5=8A=A8?=
=?UTF-8?q?=E4=BD=9C=E4=B8=9A=E9=87=8C=E5=AE=9E=E6=97=B6=E8=B0=83=E6=95=B4?=
=?UTF-8?q?=E8=A1=A5=E5=81=BF=E5=80=BC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.../.org.eclipse.egit.core.cmp/.project | 11 -------
.../org.eclipse.core.resources.prefs | 2 --
.settings/language.settings.xml | 4 +--
Core/Protobuf/Proto/bsp_IV.proto | 1 +
Core/Protobuf/Proto/bsp_PV.proto | 2 ++
Core/Src/FSM.c | 4 ---
Core/Src/main.c | 2 +-
Core/Src/robot_state.c | 29 +++++++++++++++++++
8 files changed, 35 insertions(+), 20 deletions(-)
delete mode 100644 .metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.project
delete mode 100644 .metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.settings/org.eclipse.core.resources.prefs
diff --git a/.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.project b/.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.project
deleted file mode 100644
index 3c10856..0000000
--- a/.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.project
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
- .org.eclipse.egit.core.cmp
-
-
-
-
-
-
-
-
diff --git a/.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.settings/org.eclipse.core.resources.prefs b/.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.settings/org.eclipse.core.resources.prefs
deleted file mode 100644
index 99f26c0..0000000
--- a/.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.settings/org.eclipse.core.resources.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-encoding/=UTF-8
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index d032c56..19601ec 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -17,7 +17,7 @@
-
+
diff --git a/Core/Protobuf/Proto/bsp_IV.proto b/Core/Protobuf/Proto/bsp_IV.proto
index 34b8185..5dd44a7 100644
--- a/Core/Protobuf/Proto/bsp_IV.proto
+++ b/Core/Protobuf/Proto/bsp_IV.proto
@@ -14,6 +14,7 @@ message IV_struct_define{
int32 Robot_Current_Left= 9;
int32 Robot_Current_Right= 10;
+
int32 Robot_Error_Left= 11;
int32 Robot_Error_Right= 12;
diff --git a/Core/Protobuf/Proto/bsp_PV.proto b/Core/Protobuf/Proto/bsp_PV.proto
index 4a50aef..143b948 100644
--- a/Core/Protobuf/Proto/bsp_PV.proto
+++ b/Core/Protobuf/Proto/bsp_PV.proto
@@ -2,6 +2,8 @@ syntax = "proto3";
message PV_struct_define{
int32 Robot_ChgLength= 1;
+
double Robot_AutoSpeedBase=2;
double Robot_ManualSpeedBase=3;
+
};
diff --git a/Core/Src/FSM.c b/Core/Src/FSM.c
index d0a559a..560c67f 100644
--- a/Core/Src/FSM.c
+++ b/Core/Src/FSM.c
@@ -450,11 +450,7 @@ void GF_Dispatch()//2ms调用一次 给车体速度等赋值
IV.Robot_CurrentState = CurrentMoveState;
-
action_perfrom(MoveTransitions, sizeof(MoveTransitions) / sizeof(transition_t), CurrentMoveState);//结构体数组/大小/当前状态
- // action_perfrom(SwingTransitions,sizeof(SwingTransitions) / sizeof(transition_t), CurrentSwingState);
- // action_perfrom(TiltTransitions, sizeof(TiltTransitions) / sizeof(transition_t), CurrentTiltState);
-
}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 1bede13..191a6a7 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -143,7 +143,7 @@ int main(void)
MX_USART6_UART_Init();
MX_TIM8_Init();
MX_LWIP_Init();
- MX_QUADSPI_Init();
+ //MX_QUADSPI_Init();
MX_LPUART1_UART_Init();
MX_ADC2_Init();
/* USER CODE BEGIN 2 */
diff --git a/Core/Src/robot_state.c b/Core/Src/robot_state.c
index 534577f..5412f5d 100644
--- a/Core/Src/robot_state.c
+++ b/Core/Src/robot_state.c
@@ -215,6 +215,21 @@ void Auto()
}
break;
case 2:
+ //水平
+ if ((AM_Pa.ExpectationAngle >= 45 && AM_Pa.ExpectationAngle <= 135))
+ {
+ AM_Pa.ExpectationAngle = 90 - GV.Right_Compensation/100.0;
+ }
+ else if ((AM_Pa.ExpectationAngle >= -135 && AM_Pa.ExpectationAngle <= -45))
+ {
+ AM_Pa.ExpectationAngle = -90 + GV.Left_Compensation/100.0;
+ }
+
+ //垂直
+ else if ((AM_Pa.ExpectationAngle > -45 && AM_Pa.ExpectationAngle < 45))
+ {
+ AM_Pa.ExpectationAngle = 0 - GV.Left_Compensation/100.0 + GV.Right_Compensation/100.0;
+ }
VehicleAutoForward(angle,
GV.Left_Compensation/100.0, GV.Right_Compensation/100.0);//自动前进
break;
@@ -247,6 +262,20 @@ void Auto()
}
break;
case 4:
+ if ((AM_Pa.ExpectationAngle >= 45 && AM_Pa.ExpectationAngle <= 135))
+ {
+ AM_Pa.ExpectationAngle = 90 + GV.Left_Compensation/100.0;
+ }
+ if ((AM_Pa.ExpectationAngle >= -135 && AM_Pa.ExpectationAngle <= -45))
+ {
+ AM_Pa.ExpectationAngle = - 90 - GV.Right_Compensation/100.0;
+ }
+
+ //垂直
+ if ((AM_Pa.ExpectationAngle > -45 && AM_Pa.ExpectationAngle < 45))
+ {
+ AM_Pa.ExpectationAngle = 0 - GV.Left_Compensation/100.0 + GV.Right_Compensation/100.0;
+ }
VehicleAutoBackward(angle,
GV.Left_Compensation/100.0, GV.Right_Compensation/100.0);//自动后退
break;