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提高系统效率和鲁棒性

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This commit is contained in:
lxbpxylps@126.com 2021-03-16 19:53:15 +08:00
parent d15fcf588d
commit 76d6a6d253
1 changed files with 38 additions and 17 deletions
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55
TaiChi/TaiChi.ino
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@ -24,6 +24,14 @@ Servo servo; //舵机实例
int8_t route[][3] =
{
{0, 0, NORMAL_POINT},
{0, 1, NORMAL_POINT},
{0, 2, NORMAL_POINT},
{-1, 2, 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},
@ -70,7 +78,7 @@ int8_t route[][3] =
//放下爪子用时
#define DOWN_DELAY_TIME 1600
//抓取留时
#define CATCH_DELAY_TIME 2100
#define CATCH_DELAY_TIME 600
//释放留时
#define RELEASE_DELAY_TIME 3100
//增益放下爪子用时
@ -78,7 +86,7 @@ int8_t route[][3] =
//增益抓取用时
#define GAINCATCH_DELAY_TIME 1600
//增益抬起爪子用时
#define GAINUP_DELAY_TIME 4600
#define GAINUP_DELAY_TIME 1600
//最大抓取尝试次数
#define MAX_CATCH_TIMES 2
@ -349,7 +357,6 @@ void loop()
//机械臂复原
servo.Reset();
delay(RESET_DELAY_TIME);
//无循迹前进到释放柱
move.Forward();
@ -670,8 +677,9 @@ void LineForward(uint8_t end_position, float speed_rate)
//记录开始时间
unsigned long begin_time = millis();
//记录灰度传感器匹配次数
uint8_t gray_match_time = 0;
//记录灰度传感器匹配情况
bool gray_match_a = false;
bool gray_match_b = false;
while(1)
{
@ -694,13 +702,19 @@ void LineForward(uint8_t end_position, float speed_rate)
if (end_position == FRONT_END) //前端接触线离开函数
{
if (sensor.IsWhite(GRAY_1) || sensor.IsWhite(GRAY_2))
gray_match_time++;
if (sensor.IsWhite(GRAY_1))
gray_match_a = true;
if (sensor.IsWhite(GRAY_2))
gray_match_b = true;
}
else if (end_position == BACK_END) //后端接触线离开函数
{
if (sensor.IsWhite(GRAY_5) || sensor.IsWhite(GRAY_6))
gray_match_time++;
if (sensor.IsWhite(GRAY_5))
gray_match_a = true;
if (sensor.IsWhite(GRAY_6))
gray_match_b = true;
}
else if (end_position == CATCH_END) //到达抓取位置离开函数
{
@ -714,7 +728,7 @@ void LineForward(uint8_t end_position, float speed_rate)
}
//对应前端接触线离开函数和后端接触线离开函数的情况
if (gray_match_time == 2)
if (gray_match_a && gray_match_b)
break;
}
@ -735,8 +749,9 @@ void LineBackward(uint8_t end_position, float speed_rate)
Serial.println((int)end_position);
#endif
//记录灰度传感器匹配次数
uint8_t gray_match_time = 0;
//记录灰度传感器匹配情况
bool gray_match_a = false;
bool gray_match_b = false;
while(1)
{
@ -759,17 +774,23 @@ void LineBackward(uint8_t end_position, float speed_rate)
if (end_position == FRONT_END) //前端接触线离开函数
{
if (sensor.IsWhite(GRAY_1) || sensor.IsWhite(GRAY_2))
gray_match_time++;
if (sensor.IsWhite(GRAY_1))
gray_match_a = true;
if (sensor.IsWhite(GRAY_2))
gray_match_b = true;
}
else //后端接触线离开函数
{
if (sensor.IsWhite(GRAY_5) || sensor.IsWhite(GRAY_6))
gray_match_time++;
if (sensor.IsWhite(GRAY_5))
gray_match_a = true;
if (sensor.IsWhite(GRAY_6))
gray_match_b = true;
}
//对应前端接触线离开函数和后端接触线离开函数的情况
if (gray_match_time == 2)
if (gray_match_a && gray_match_b)
break;
}