From 45c3b7159fea3ec8589208618f078723ff008033 Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Sat, 5 Jun 2021 21:29:07 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9C=80=E7=BB=88=E7=89=88=E6=9C=AC=EF=BC=8C?= =?UTF-8?q?=E5=AE=8C=E7=BB=93=E6=92=92=E8=8A=B1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/MemoryUsage.h | 2 +- TaiChi/TaiChi.ino | 16 ++++-- TaiChi/radioTaiChi.h | 2 +- TaiChi/routeTaiChi.cpp | 105 +++++++++++++++++++++++++++++++++------- TaiChi/routeTaiChi.h | 2 +- TaiChi/sensorTaiChi.cpp | 4 +- TaiChi/sensorTaiChi.h | 10 ++-- TaiChi/servoTaiChi.h | 2 +- 8 files changed, 111 insertions(+), 32 deletions(-) diff --git a/TaiChi/MemoryUsage.h b/TaiChi/MemoryUsage.h index 74c8042..e04cbdd 100644 --- a/TaiChi/MemoryUsage.h +++ b/TaiChi/MemoryUsage.h @@ -23,7 +23,7 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA #include #include -#define NeoSerialDebug NeoSerial3 +#define NeoSerialDebug NeoSerial /*! \mainpage diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino index d7dceec..83ca4b7 100644 --- a/TaiChi/TaiChi.ino +++ b/TaiChi/TaiChi.ino @@ -186,7 +186,7 @@ void HandleMessage(const char* message); #include "MemoryUsage.h" -#define NeoSerialDebug NeoSerial3 +#define NeoSerialDebug NeoSerial #define DEBUG_BAUT_RATE 115200 int loop_time = 0; @@ -237,7 +237,17 @@ void setup() sensor.StartHMC5883(); //在开始运行前依次检测各灰度传感器下方黑白是否正常 - CheckGrayStatus(); + //CheckGrayStatus(); + + while (1) + { + sensor.IsWhite(GRAY_1); + sensor.IsWhite(GRAY_2); + sensor.IsWhite(GRAY_3); + sensor.IsWhite(GRAY_4); + sensor.IsWhite(GRAY_5); + sensor.IsWhite(GRAY_6); + } //前往 0, 0 //沿线直行，到后端传感器接触下一条线离开函数 @@ -812,7 +822,7 @@ void LineBackward(uint8_t end_position, uint8_t type, float speed_rate) if (sensor.IsWhite(GRAY_1)) gray_match_a = true; - if (sensor.IsWhite(GRAY_2)) + if (sensor.IsWhite(GRAY_2)) gray_match_b = true; } else //后端接触线离开函数 diff --git a/TaiChi/radioTaiChi.h b/TaiChi/radioTaiChi.h index 6074cec..271078e 100644 --- a/TaiChi/radioTaiChi.h +++ b/TaiChi/radioTaiChi.h @@ -8,7 +8,7 @@ #define RADIO_DEBUG #ifdef RADIO_DEBUG -#define NeoSerialDebug NeoSerial3 +#define NeoSerialDebug NeoSerial #endif //默认与 HC-12 连接串口 diff --git a/TaiChi/routeTaiChi.cpp b/TaiChi/routeTaiChi.cpp index 433a6f3..dce5059 100644 --- a/TaiChi/routeTaiChi.cpp +++ b/TaiChi/routeTaiChi.cpp @@ -292,28 +292,97 @@ void Route::InitBaseRoute(void) { {0, 0, NORMAL_POINT}, {0, 1, NORMAL_POINT}, - {0, 2, NORMAL_POINT}, - {-1, 2, NORMAL_POINT}, + {1, 1, CATCH_POINT}, + {2, 1, NORMAL_POINT}, + {2, 2, CARRY_POINT}, + {2, 3, NORMAL_POINT}, + {3, 3, GETOUT_POINT}, + {2, 3, NORMAL_POINT}, + {2, 4, NORMAL_POINT}, + {3, 4, RELEASE_POINT}, + {2, 4, NORMAL_POINT}, + {2, 3, NORMAL_POINT}, + {1, 3, NORMAL_POINT}, + {0, 3, NORMAL_POINT}, + {-1, 3, NORMAL_POINT}, + {-1, 4, GAIN_POINT}, + {-1, 3, NORMAL_POINT}, + {0, 3, NORMAL_POINT}, + {1, 3, NORMAL_POINT}, + {2, 3, NORMAL_POINT}, + {2, 4, NORMAL_POINT}, + {3, 4, RELEASE_POINT}, + {2, 4, NORMAL_POINT}, + {2, 3, NORMAL_POINT}, + {1, 3, NORMAL_POINT}, + {0, 3, NORMAL_POINT}, + {0, 2, CATCH_POINT}, + {1, 2, NORMAL_POINT}, + {2, 2, NORMAL_POINT}, + {3, 2, RELEASE_POINT}, + {2, 2, NORMAL_POINT}, + {1, 2, NORMAL_POINT}, + {1, 1, NORMAL_POINT}, + {0, 1, NORMAL_POINT}, {-1, 1, CATCH_POINT}, - {0, 1, NORMAL_POINT}, - {0, 0, NORMAL_POINT}, - {-1, 0, RELEASE_POINT}, - {0, 0, NORMAL_POINT}, - {0, 1, NORMAL_POINT}, - {0, 2, NORMAL_POINT}, + {-2, 1, NORMAL_POINT}, + {-2, 2, CARRY_POINT}, {-1, 2, NORMAL_POINT}, - {-1, 1, NORMAL_POINT}, - {0, 1, NORMAL_POINT}, - {0, 0, NORMAL_POINT}, - {-1, 0, GAIN_POINT}, - {0, 0, NORMAL_POINT}, - {0, 1, NORMAL_POINT}, {0, 2, NORMAL_POINT}, + {0, 3, NORMAL_POINT}, + {1, 3, NORMAL_POINT}, + {2, 3, NORMAL_POINT}, + {3, 3, GETOUT_POINT}, + {2, 3, NORMAL_POINT}, + {2, 2, NORMAL_POINT}, + {3, 2, RELEASE_POINT}, + + + + + + + + {-1, 1, CARRY_POINT}, + {-2, 1, NORMAL_POINT}, + {-2, 2, CARRY_POINT}, {-1, 2, NORMAL_POINT}, - {-1, 1, NORMAL_POINT}, - {0, 1, NORMAL_POINT}, - {0, 0, NORMAL_POINT}, - {-1, 0, RELEASE_POINT} + {0, 2, CATCH_POINT}, + {0, 3, NORMAL_POINT}, + {1, 3, NORMAL_POINT}, + {2, 3, NORMAL_POINT}, + {3, 3, GETOUT_POINT},// + {2, 3, NORMAL_POINT}, + {2, 4, NORMAL_POINT}, + {3, 4, RELEASE_POINT},// + {2, 4, NORMAL_POINT}, + {2, 3, NORMAL_POINT}, + {2, 2, CATCH_POINT}, + {3, 2, RELEASE_POINT},// + {2, 2, NORMAL_POINT}, + {2, 1, NORMAL_POINT}, + {1, 1, CATCH_POINT}, + {1, 2, NORMAL_POINT}, + {1, 3, NORMAL_POINT}, + {2, 3, NORMAL_POINT}, + {2, 4, NORMAL_POINT}, + {3, 4, RELEASE_POINT},// + {2, 4, NORMAL_POINT}, + {2, 5, NORMAL_POINT}, + {2, 6, CATCH_POINT}, + {3, 6, RELEASE_POINT},// + {2, 6, NORMAL_POINT}, + {2, 7, NORMAL_POINT}, + {1, 7, CATCH_POINT}, + {0, 7, NORMAL_POINT}, + {0, 6, CARRY_POINT}, + {0, 5, NORMAL_POINT}, + {1, 5, NORMAL_POINT}, + {2, 5, NORMAL_POINT}, + {3, 5, GETOUT_POINT},// + {2, 5, NORMAL_POINT}, + {2, 4, NORMAL_POINT}, + {3, 4, RELEASE_POINT}// }; //计算数组元素个数 diff --git a/TaiChi/routeTaiChi.h b/TaiChi/routeTaiChi.h index 5c182f5..c0a6c9b 100644 --- a/TaiChi/routeTaiChi.h +++ b/TaiChi/routeTaiChi.h @@ -8,7 +8,7 @@ #define ROUTE_DEBUG #ifdef ROUTE_DEBUG -#define NeoSerialDebug NeoSerial3 +#define NeoSerialDebug NeoSerial #endif //坐标点操作定义 diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp index 5e51c22..830eeeb 100644 --- a/TaiChi/sensorTaiChi.cpp +++ b/TaiChi/sensorTaiChi.cpp @@ -213,12 +213,12 @@ bool Sensor::IsPushed(uint8_t button_num) NeoSerialDebug.print(F("#SENSOR: BUTTON_1: ")); else NeoSerialDebug.print(F("#SENSOR: BUTTON_2: ")); - if (button_val == LOW) + if (button_val == HIGH) NeoSerialDebug.println(F("pushed")); else NeoSerialDebug.println(F("released")); #endif - if (button_val == LOW) + if (button_val == HIGH) return true; else return false; } diff --git a/TaiChi/sensorTaiChi.h b/TaiChi/sensorTaiChi.h index 27369ca..52873a3 100644 --- a/TaiChi/sensorTaiChi.h +++ b/TaiChi/sensorTaiChi.h @@ -6,7 +6,7 @@ #define SENSOR_DEBUG #ifdef SENSOR_DEBUG -#define NeoSerialDebug NeoSerial3 +#define NeoSerialDebug NeoSerial #endif //灰度传感器 OUT 接口定义 @@ -48,15 +48,15 @@ #define GRAY_6 5 #define GRAY_7 6 -//碰撞传感器 OUT 接口定义 +//开关传感器 OUT 接口定义 #define BUTTON_1_OUT 2 #define BUTTON_2_OUT 3 -//碰撞传感器 VCC 接口定义 +//开关传感器 VCC 接口定义 #define BUTTON_1_VCC 45 #define BUTTON_2_VCC 46 -//碰撞传感器标识定义 +//开关传感器标识定义 #define BUTTON_1 0 #define BUTTON_2 1 @@ -81,7 +81,7 @@ public: //灰度传感器灰度值偏离比例，即 (gray_gate - gray_val) / gray_gate static float GrayDeviationRate(uint8_t gray_sensor_num); - //碰撞传感器（开关）判断是否闭合 + //开关判断是否闭合 static bool IsPushed(uint8_t button_num); //开启 HMC5883 的 I2C 通讯 diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h index c0778be..46cc42c 100644 --- a/TaiChi/servoTaiChi.h +++ b/TaiChi/servoTaiChi.h @@ -8,7 +8,7 @@ #define SERVO_DEBUG #ifdef SERVO_DEBUG -#define NeoSerialDebug NeoSerial3 +#define NeoSerialDebug NeoSerial #endif //与舵机控制板连接串口