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新增自动作业里实时调整补偿值

3.2
LIN\54376 1 month ago
parent
f221f5f7d0
commit
fda8b070b8
2 changed files with 32 additions and 2 deletions
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  1. 4
      .settings/language.settings.xml
  2. 30
      Core/Src/robot_state.c

4
.settings/language.settings.xml
View File

@ -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>

30
Core/Src/robot_state.c
View File

@ -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;

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