From bf0a161622a194fba7aff5605e0b6e02ad5d5d28 Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Mon, 15 Feb 2021 13:24:30 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E4=BD=8E=E9=80=9F=E9=87=8D?= =?UTF-8?q?=E6=96=B0=E5=AF=BB=E7=BA=BF=E6=97=B6=E5=87=8F=E9=80=9F=E6=AF=94?= =?UTF-8?q?=E7=8E=87=E5=AE=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/TaiChi.ino | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino index 73b3392..4c6154f 100644 --- a/TaiChi/TaiChi.ino +++ b/TaiChi/TaiChi.ino @@ -63,6 +63,8 @@ int8_t route[][3] = //修正循迹时单侧减速比率 #define LINE_FIX_SPEED_RATE 0.8 +//低速重新寻线时减速比率 +#define LINE_FIND_SPEED_RATE 0.5 //*************************************************************************************** @@ -325,7 +327,7 @@ void LineForward(uint8_t end_position, float speed_rate) } else //均不符合，则低速后退，尝试回到白线上 { - move.Backward(0.5); + move.Backward(LINE_FIND_SPEED_RATE); } if (end_position == FRONT_END) //前端接触线为止 @@ -383,7 +385,7 @@ void LineBackward(uint8_t end_position, float speed_rate) } else //均不符合，则低速前进，尝试回到白线上 { - move.Forward(0.5); + move.Forward(LINE_FIND_SPEED_RATE); }