.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="907529818182249734" 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="907529818182249734" 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 <= 600)
+		if(AutoSpray_Stop_Count <= 250)
 		{
 			AutoSpray_Flag = 0;
 			AutoSpray_Stop_Count = 0;
@@ -283,24 +283,48 @@ void Dangerous_Test()
 //--
 //--气压检测
 void Dym_Test()
+{
+	if(Current_T_F4_Value.Test_On == 1)
 	{
 		//计数，置位标志
 		//前进探边计数
-	if(GV.Robot_Ultrasonic.Dym_Value <= 10250 ||  GV.Robot_Ultrasonic.Dym_Value >= 11000)
+		if(GV.Robot_Ultrasonic.Dym_Value <= 10300 ||  GV.Robot_Ultrasonic.Dym_Value >= 11000)
 		{
 			GV.Robot_Ultrasonic.Dym_Value_Count ++;
 			if(GV.Robot_Ultrasonic.Dym_Value_Count >= 3)
 			{
 				GV.Robot_Ultrasonic.Dym_Value_Count = 3;
-			Current_T_F4_Value.AutoForWard = 0;
+				GV.Robot_Ultrasonic.Dym_Value_Flag = 1;
-			Current_T_F4_Value.AutoBackWard = 0;
+				GF_BSP_GPIO_SetIO(Light, 0);
+			}
+		}
+		else
+		{
+			GV.Robot_Ultrasonic.Dym_Value_Count = 0;
+			GF_BSP_GPIO_SetIO(Light, 1);
 		}
 	}
 	else
 	{
 		GV.Robot_Ultrasonic.Dym_Value_Count = 0;
+		GF_BSP_GPIO_SetIO(Light, 1);
 	}
+
+	//报警后，等自动程序都复位才能继续
+	if(GV.Robot_Ultrasonic.Dym_Value_Count < 3
+			&& Current_T_F4_Value.AutoForWard == 0
+			&& Current_T_F4_Value.AutoBackWard == 0
+			&& Current_T_F4_Value.ChgDown_Ver == 0
+			&& Current_T_F4_Value.ChgUp_Ver == 0
+			&& Current_T_F4_Value.ChgLeft_Hor == 0
+			&& Current_T_F4_Value.ChgRight_Hor == 0)
+	{
+		GV.Robot_Ultrasonic.Dym_Value_Flag = 0;
 	}
+
+
+}
+
 //--探边置位消除
 void Dangerous_Flag_Delete()
 {
@@ -377,7 +401,7 @@ void GF_Dispatch()//2ms调用一次 给车体速度等赋值
 	}
 	//--
 	//--气压判断
-//	Dym_Test();
+	Dym_Test();
 	//--
 	//运动部分 Move Region
 		if((Current_T_F4_Value.ChgDown_Ver == 1 || Current_T_F4_Value.ChgUp_Ver == 1
@@ -386,7 +410,8 @@ void GF_Dispatch()//2ms调用一次 给车体速度等赋值
 				&& (Current_T_F4_Value.robot_forward_backward_speed >= 0X7A
 					&& Current_T_F4_Value.robot_forward_backward_speed <= 0X84)
 				&& (Current_T_F4_Value.robot_left_right_turn_speed >= 0X7A
-					&& Current_T_F4_Value.robot_left_right_turn_speed <= 0X84))
+					&& Current_T_F4_Value.robot_left_right_turn_speed <= 0X84)
+				&& GV.Robot_Ultrasonic.Dym_Value_Flag != 1)
 			{
 				if((Current_T_F4_Value.AutoForWard == 1 || Current_T_F4_Value.AutoBackWard == 1)
 					&&(Current_T_F4_Value.ChgDown_Ver != 1 && Current_T_F4_Value.ChgUp_Ver != 1

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;