From fda8b070b8bc5aa3ce84c6478d5ac4cb0982c8b8 Mon Sep 17 00:00:00 2001
From: "LIN\\54376" <543769318@qq.com>
Date: Fri, 26 Sep 2025 16:55:33 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E8=87=AA=E5=8A=A8=E4=BD=9C?=
=?UTF-8?q?=E4=B8=9A=E9=87=8C=E5=AE=9E=E6=97=B6=E8=B0=83=E6=95=B4=E8=A1=A5?=
=?UTF-8?q?=E5=81=BF=E5=80=BC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.settings/language.settings.xml | 4 ++--
Core/Src/robot_state.c | 30 ++++++++++++++++++++++++++++++
2 files changed, 32 insertions(+), 2 deletions(-)
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 13fd3c0..7c1ad0a 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Src/robot_state.c b/Core/Src/robot_state.c
index adfb70d..6e79d47 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;
+ }
+ else if ((AM_Pa.ExpectationAngle >= -135 && AM_Pa.ExpectationAngle <= -45))
+ {
+ AM_Pa.ExpectationAngle = -90 + GV.Left_Compensation;
+ }
+
+ //垂直
+ else if ((AM_Pa.ExpectationAngle > -45 && AM_Pa.ExpectationAngle < 45))
+ {
+ AM_Pa.ExpectationAngle = 0;
+ }
VehicleAutoForward(angle,
GV.PV.Robot_LeftCompensation, GV.PV.Robot_RightCompensation);//自动前进
break;
@@ -247,6 +262,21 @@ void Auto()
}
break;
case 4:
+ //水平
+ if ((AM_Pa.ExpectationAngle >= 45 && AM_Pa.ExpectationAngle <= 135))
+ {
+ AM_Pa.ExpectationAngle = 90 + GV.Left_Compensation;
+ }
+ if ((AM_Pa.ExpectationAngle >= -135 && AM_Pa.ExpectationAngle <= -45))
+ {
+ AM_Pa.ExpectationAngle = - 90 - GV.Right_Compensation;
+ }
+
+ //垂直
+ if ((AM_Pa.ExpectationAngle > -45 && AM_Pa.ExpectationAngle < 45))
+ {
+ AM_Pa.ExpectationAngle = 0;
+ }
VehicleAutoBackward(angle,
GV.PV.Robot_LeftCompensation, GV.PV.Robot_RightCompensation);//自动后退
break;