更改抓取环时的逻辑

2021-03-05 21:56:27 +08:00 · 2021-03-05 21:56:27 +08:00 · 7320b6b163
commit 7320b6b163
parent e39d78ea77
1 changed files with 6 additions and 3 deletions
--- a/TaiChi/TaiChi.ino
+++ b/TaiChi/TaiChi.ino
@ -681,12 +681,15 @@ bool CatchAndCheck(float speed)
            Serial.print(" catch_times: "); Serial.println((int)catch_times);
            #endif

-            if (catch_times == MAX_CATCH_TIMES) //达到最大尝试次数，返回
-                return false;
-            
            //停止动作组运行
            servo.StopActionGroup();

+            if (catch_times == MAX_CATCH_TIMES) //达到最大尝试次数，返回
+            {
+                servo.Reset();
+                return false;
+            }
+
            //打开爪子
            if(!OpenClawAndCheck()) //未能打开爪子
                return false;