新增自动作业里实时调整补偿值

.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="1328381157137894459" 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>
@@ -16,7 +16,7 @@
 			<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="1328381157137894459" 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/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;