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增加在开始运行前检测灰度参数是否正常功能

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lxbpxylps@126.com 2021-02-24 18:10:38 +08:00
parent 81687a0a7f
commit c073145d73
1 changed files with 35 additions and 0 deletions
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35
TaiChi/TaiChi.ino
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@ -101,6 +101,9 @@ bool is_carry = false;
//****************************************自定函数****************************************
//在开始运行前检测灰度参数是否正常，若不正常，异常传感器闪烁，程序不继续进行
void CheckGrayGate(void);
#define NO_JUMP 0
#define JUMP_DEAD_ROAD 1
//更新标记
@ -178,6 +181,9 @@ void setup()
move.Stop();
servo.StopAndReset();
//在开始运行前检测灰度参数是否正常
CheckGrayGate();
//计算最大数组下标
max_flag = sizeof(route) / sizeof(route[0]) - 1;
@ -350,6 +356,35 @@ void loop()
}
//在开始运行前检测灰度参数是否正常，若不正常，异常传感器闪烁，程序不继续进行
void CheckGrayGate(void)
{
//若参数正常，1 2 5 6 号传感器检测到黑色，3 4 号传感器检测到白色
bool is_gate_right = false;
while (!is_gate_right)
{
if (sensor.IsWhite(GRAY_1))
sensor.FlashGraySensor(GRAY_1);
else if (sensor.IsWhite(GRAY_2))
sensor.FlashGraySensor(GRAY_2);
else if (!sensor.IsWhite(GRAY_3))
sensor.FlashGraySensor(GRAY_3);
else if (!sensor.IsWhite(GRAY_4))
sensor.FlashGraySensor(GRAY_4);
else if (sensor.IsWhite(GRAY_5))
sensor.FlashGraySensor(GRAY_5);
else if (sensor.IsWhite(GRAY_6))
sensor.FlashGraySensor(GRAY_6);
else is_gate_right = true;
}
#ifdef TAICHI_DEBUG
Serial.println("#TAICHI: Gray Gate OK!");
#endif
}
//更新标记
void UpdateFlag(uint8_t jump_choice)
{