From d15fcf588d12ed6f1340862e51064136bf65f362 Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Tue, 16 Mar 2021 09:05:51 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E5=A2=9E=E7=9B=8A=E6=8A=93?= =?UTF-8?q?=E5=8F=96=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/TaiChi.ino | 62 +++++++++++++++++++++++++++++++++++++---------- 1 file changed, 49 insertions(+), 13 deletions(-) diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino index 9311e4d..9ae08b3 100644 --- a/TaiChi/TaiChi.ino +++ b/TaiChi/TaiChi.ino @@ -28,7 +28,15 @@ int8_t route[][3] = {0, 1, NORMAL_POINT}, {0, 2, NORMAL_POINT}, {-1, 2, NORMAL_POINT}, - {-1, 1, CATCH_POINT}, + {-1, 1, NORMAL_POINT}, + {0, 1, NORMAL_POINT}, + {0, 0, NORMAL_POINT}, + {-1, 0, GAIN_POINT}, + {0, 0, NORMAL_POINT}, + {0, 1, NORMAL_POINT}, + {0, 2, NORMAL_POINT}, + {-1, 2, NORMAL_POINT}, + {-1, 1, NORMAL_POINT}, {0, 1, NORMAL_POINT}, {0, 0, NORMAL_POINT}, {-1, 0, RELEASE_POINT} @@ -45,13 +53,17 @@ int8_t route[][3] = //释放点向前移动用时 #define RELEASE_MOVE_FORWARD_DELAY_TIME 1000 //释放点暂停用时 -#define RELEASE_STOP_DELAY_TIME 500 +#define STOP_DELAY_TIME 500 //释放点向后向前移动用时 #define RELEASE_MOVE_BACKWARD_AND_FORWARD_DELAY_TIME 460 //增益点向后向前移动用时 -#define GAIN_MOVE_BACKWARD_AND_FORWARD_DELAY_TIME 460 -//增益点稍稍向前移动用时 -#define GAIN_MOVE_LITTLEFORWARD_DELAY_TIME 200 +#define GAIN_MOVE_BACKWARD_AND_FORWARD_DELAY_TIME 750 +//增益点稍稍向前移动推环用时 +#define GAIN_MOVE_FORWARD_TO_PUSH_DELAY_TIME 200 +//增益点稍稍向后移动抓取用时 +#define GAIN_MOVE_BACKWARD_TO_CATCH_DELAY_TIME 100 +//增益点稍稍向后移动拉环用时 +#define GAIN_MOVE_BACKWARD_TO_UP_DELAY_TIME 65 //重置留时 #define RESET_DELAY_TIME 1600 @@ -64,7 +76,9 @@ int8_t route[][3] = //增益放下爪子用时 #define GAINDOWN_DELAY_TIME 1600 //增益抓取用时 -#define GAINCATCH_DELAY_TIME 3100 +#define GAINCATCH_DELAY_TIME 1600 +//增益抬起爪子用时 +#define GAINUP_DELAY_TIME 4600 //最大抓取尝试次数 #define MAX_CATCH_TIMES 2 @@ -319,7 +333,7 @@ void loop() //停止前进 move.Stop(); - delay(RELEASE_STOP_DELAY_TIME); + delay(STOP_DELAY_TIME); //无循迹后退到真实释放位置 move.Backward(); @@ -346,7 +360,7 @@ void loop() //停止前进 move.Stop(); - delay(RELEASE_STOP_DELAY_TIME); + delay(STOP_DELAY_TIME); } //情况四：刚完整经过释放点（使用机械臂）或增益抓取点，下一个点为普通点 else if ((passed_flag_type == RELEASE_POINT || passed_flag_type == GAIN_POINT) && next_flag_type == NORMAL_POINT) @@ -363,6 +377,9 @@ void loop() //情况五：刚完整经过普通点，下一个点为释放点（从底盘） else if (passed_flag_type == NORMAL_POINT && next_flag_type == GETOUT_POINT) { + //沿线直行，到前端传感器接触下一条线离开函数 + LineForward(FRONT_END); + //沿线直行，到后端传感器接触下一条线离开函数 LineForward(BACK_END); @@ -403,7 +420,7 @@ void loop() //停止前进 move.Stop(); - delay(RELEASE_STOP_DELAY_TIME); + delay(STOP_DELAY_TIME); //无循迹后退到真实抓取位置 move.Backward(); @@ -416,9 +433,17 @@ void loop() servo.GainDown(); delay(GAINDOWN_DELAY_TIME); - //稍稍无循迹前进 - move.Forward(); - delay(GAIN_MOVE_LITTLEFORWARD_DELAY_TIME); + //稍稍无循迹前进，向前推环，以约束环的位置 + move.Forward(0.5); + delay(GAIN_MOVE_FORWARD_TO_PUSH_DELAY_TIME); + + //停止前进 + move.Stop(); + delay(STOP_DELAY_TIME); + + //稍稍无循迹后退，便于爪子抓取 + move.Backward(0.5); + delay(GAIN_MOVE_BACKWARD_TO_CATCH_DELAY_TIME); //停止前进 move.Stop(); @@ -426,6 +451,17 @@ void loop() //抓取 CatchAndCheck(CATCH_TYPE_GAIN); + //稍稍无循迹后退，便于爪子抬起 + move.Backward(0.5); + delay(GAIN_MOVE_BACKWARD_TO_UP_DELAY_TIME); + + //停止前进 + move.Stop(); + + //抬起爪子 + servo.GainUp(); + delay(GAINUP_DELAY_TIME); + //无循迹前进到释放柱（增益柱） move.Forward(); delay(GAIN_MOVE_BACKWARD_AND_FORWARD_DELAY_TIME); @@ -436,7 +472,7 @@ void loop() //停止前进 move.Stop(); - delay(RELEASE_STOP_DELAY_TIME); + delay(STOP_DELAY_TIME); } //出现错误 else