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使用 millis 函数代替 micros 函数

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lxbpxylps@126.com 2021-02-18 11:31:28 +08:00
parent 27c57c65ad
commit 56cf6021ac
1 changed files with 10 additions and 10 deletions
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20
TaiChi/TaiChi.ino
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@ -62,10 +62,10 @@ int8_t route[][3] =
//****************************************可调参数****************************************
//抓取点移动用时 us
#define CATCH_MOVE_DELAY_TIME 2000000
//释放点移动用时 us
#define RELEASE_MOVE_DELAY_TIME 2000000
//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
@ -244,7 +244,7 @@ void loop()
move.Stop();
#ifdef TAICHI_DEBUG
Serial.println("#TAICHI: FAIL TO RUN NEW LOOP!");
Serial.println("#TAICHI: **********FAIL TO RUN NEW LOOP!**********");
Serial.print("#TAICHI: loop_time: "); Serial.println(loop_time);
Serial.print("#TAICHI: pass: ["); Serial.print(route[passed_flag][X]); Serial.print(", "); Serial.print(route[passed_flag][Y]); Serial.print("]");
Serial.print(" flag: "); Serial.print(passed_flag);
@ -372,7 +372,7 @@ void LineForward(uint8_t end_position, float speed_rate)
#endif
//记录开始时间
unsigned long begin_time = micros();
unsigned long begin_time = millis();
while(1)
{
@ -405,12 +405,12 @@ void LineForward(uint8_t end_position, float speed_rate)
}
else if (end_position == CATCH_END) //到达抓取位置为止
{
if (micros() - begin_time > CATCH_MOVE_DELAY_TIME)
if (millis() - begin_time > CATCH_MOVE_DELAY_TIME)
break;
}
else //到达释放位置为止
{
if (micros() - begin_time > RELEASE_MOVE_DELAY_TIME)
if (millis() - begin_time > RELEASE_MOVE_DELAY_TIME)
break;
}
}
@ -522,7 +522,7 @@ bool CatchAndCheckIsDone(float speed)
{
#ifdef TAICHI_DEBUG
//调试输出失败信息
Serial.println("#TAICHI: FAIL CATCH!");
Serial.println("#TAICHI: **********FAIL CATCH!**********");
#endif
servo.Catch(speed); //重试，此次检测但不重试
@ -534,7 +534,7 @@ bool CatchAndCheckIsDone(float speed)
{
#ifdef TAICHI_DEBUG
//调试输出失败信息
Serial.println("#TAICHI: FAIL CATCH AGAIN!");
Serial.println("#TAICHI: **********FAIL CATCH AGAIN!**********");
#endif
return false;