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新增移动用时宏便于调参

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lxbpxylps@126.com 2021-02-14 15:44:39 +08:00
parent e9f30112fc
commit 303368818c
1 changed files with 8 additions and 3 deletions
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11
TaiChi/TaiChi.ino
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@ -32,6 +32,11 @@ int8_t route[][3] =
//****************************************可调参数****************************************
//抓取点移动用时
#define CATCH_MOVE_DELAY_TIME 2000
//释放点移动用时
#define RELEASE_MOVE_DELAY_TIME 2000
//重置留时
#define RESET_DELAY_TIME 10000
//抓取留时
@ -295,13 +300,13 @@ void LineForward(uint8_t end_position, double speed_rate)
}
else if (end_position == CATCH_END) //到达抓取位置为止
{
if (micros() - begin_time > 2000)
if (micros() - begin_time > CATCH_MOVE_DELAY_TIME)
break;
}
else //到达释放位置为止
{
if (micros() - begin_time > 2000)
break;
if (micros() - begin_time > RELEASE_MOVE_DELAY_TIME)
break;
}
}
}