注释掉MX_QUADSPI_Init();新增：在自动作业里实时调整补偿值

.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.project

@@ -1,11 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>.org.eclipse.egit.core.cmp</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-	</buildSpec>
-	<natures>
-	</natures>
-</projectDescription>

.metadata/.plugins/org.eclipse.egit.core/.org.eclipse.egit.core.cmp/.settings/org.eclipse.core.resources.prefs

@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-encoding/<project>=UTF-8

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-48266367591953008" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1328381156250390778" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -17,7 +17,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-48266367591953008" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1328381156250390778" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

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;	
 

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; 
+
 };

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);
-
 
 }
 

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 */

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;