From 2a146842bf3f6650b305d6dd7f487cfdf1ca9660 Mon Sep 17 00:00:00 2001
From: "LIN\\54376" <543769318@qq.com>
Date: Tue, 9 Sep 2025 09:34:48 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E5=B0=8F=E4=BA=86=E8=87=AA=E5=8A=A8?=
=?UTF-8?q?=E5=81=9C=E8=BD=A6=E6=97=B6=E9=97=B4=E3=80=81=E6=89=BE=E5=81=8F?=
=?UTF-8?q?=E7=9A=84=E6=9C=80=E5=A4=A7=E9=80=9F=E5=BA=A6=EF=BC=8C=E6=94=B9?=
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---
.settings/language.settings.xml | 4 ++--
Core/Src/FSM.c | 2 +-
Core/Src/robot_state.c | 8 ++++----
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 8abf83c..805db99 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Src/FSM.c b/Core/Src/FSM.c
index 8ac399d..c36521b 100644
--- a/Core/Src/FSM.c
+++ b/Core/Src/FSM.c
@@ -164,7 +164,7 @@ void Off_AutoSpray()
//若自动喷漆启动，计数AutoSpray_Stop_Count*2ms后再停车
if(AutoSpray_Flag == 1)
{
- if(AutoSpray_Stop_Count <= 300)
+ if(AutoSpray_Stop_Count <= 250)
{
AutoSpray_Flag = 0;
AutoSpray_Stop_Count = 0;
diff --git a/Core/Src/robot_state.c b/Core/Src/robot_state.c
index 95310e7..37081f6 100644
--- a/Core/Src/robot_state.c
+++ b/Core/Src/robot_state.c
@@ -20,8 +20,8 @@ ChgRoad_Parameters Chg_Pa =
.KP22 = 1.75,
.KP33 = 1.75,
.KP44 = 1.25,
- .KPCR1 = 15,
- .KDCR1 = 12,
+ .KPCR1 = 16,
+ .KDCR1 = 13,
.change_road_status_flag=0, //换道标志位
.change_road_straight_count=0,
.change_road_distance=12, //换道时的距离（执行换道前进程序的次数，可以理解为执行次数越多，机器人走的越远）
@@ -346,9 +346,9 @@ void VehicleAutoTurn(double InclinometerAngle, double expectationAngle, double K
deltaAngle=-deltaAngle;
}
- if(deltaSpeed >= 500)
+ if(deltaSpeed >= 400)
{
- deltaSpeed = 500;
+ deltaSpeed = 400;
}
GV.LeftFrontMotor.Target_Velcity=0;