改小了自动停车时间、找偏的最大速度，改大了找偏的PD

.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="1328381158025398140" 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="-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="1328381158025398140" 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/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;

Core/Src/robot_state.c

@@ -20,8 +20,8 @@ ChgRoad_Parameters Chg_Pa =
 	.KP22 = 1.75,
 	.KP33 = 1.75,
 	.KP44 = 1.25,
-	.KPCR1 = 15,
+	.KPCR1 = 16,
-	.KDCR1 = 12,
+	.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;