MYGL/Car
4
0
Fork 0
forked from StopPointTeam/TaiChi
Code Issues Pull Requests Projects Releases Wiki Activity

支持轮子速率比为负，此时反向转动

Browse Source
This commit is contained in:
lxbpxylps@126.com 2021-03-01 21:07:23 +08:00
parent 008e43adf4
commit b800db5287
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
TaiChi/moveTaiChi.cpp
View File

@ -83,9 +83,9 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
return; //结束函数
}
analogWrite(pin_enx, speed_rate * global_speed_rate * 255.0); //设置 PWM 波，即转速
analogWrite(pin_enx, abs(speed_rate) * global_speed_rate * 255.0); //设置 PWM 波，即转速
if (rotation == FORWARD_ROTATION) //向前转动
if ((rotation == FORWARD_ROTATION && speed_rate >= 0) || (rotation == BACKWARD_ROTATION && speed_rate < 0)) //向前转动
{
digitalWrite(pin_in1, LOW);
digitalWrite(pin_in2, HIGH);

2
TaiChi/moveTaiChi.h
View File

@ -30,7 +30,7 @@
#define DEFAULT_GLOBAL_SPEED_RATE 1.0
//默认转向时一侧减速的比率
#define DEFAULT_TRUN_SPEED_RATE 0.5
#define DEFAULT_TRUN_SPEED_RATE -1.0
//左侧 L298N 接口定义
#define LEFT_L298N_IN1 22