From cb25ea9bf56ce1bc322444b93e1e9079b2b0472e Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Mon, 15 Feb 2021 18:28:33 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E7=AE=97=E6=B3=95=E6=8A=93?= =?UTF-8?q?=E5=8F=96=E6=83=85=E5=86=B5=E7=9A=84=E4=B8=80=E5=A4=84=E9=94=99?= =?UTF-8?q?=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/TaiChi.ino | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino index 4c6154f..1bcd541 100644 --- a/TaiChi/TaiChi.ino +++ b/TaiChi/TaiChi.ino @@ -164,7 +164,7 @@ void loop() TurnDirection(CalcDirection()); //抓取完成后，将越过的点视为普通点 - route[passed_flag][TYPE] = NORMAL_POINT; + route[next_flag][TYPE] = NORMAL_POINT; } //情况三：刚完整经过普通点，下一个点为释放点 else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == RELEASE_POINT) @@ -192,7 +192,21 @@ void loop() //继续后退或转向 TurnDirection(CalcDirection()); } - else move.Stop(); //调试用 + //出现错误 + else + { + move.Stop(); + + #ifdef TAICHI_DEBUG + Serial.println("#TAICHI: FAIL TO RUN NEW LOOP!"); + Serial.print("#TAICHI: passed_flag: "); Serial.println(passed_flag); + Serial.print("#TAICHI: next_position: "); Serial.println((int)next_position); + Serial.print("#TAICHI: passed_flag TYPE: "); Serial.println((int)route[passed_flag][TYPE]); + Serial.print("#TAICHI: next_flag TYPE: "); Serial.println((int)route[next_flag][TYPE]); + #endif + + while (1) {} + } //更新标记，继续循环 if (++passed_flag > max_flag)