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

修改 TurnDirection 函数参数

Browse Source
This commit is contained in:
lxbpxylps@126.com 2021-02-15 19:17:59 +08:00
parent 0efadcd9da
commit ddb0bf0f81
1 changed files with 7 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
TaiChi/TaiChi.ino
View File

@ -99,7 +99,7 @@ void LineForward(uint8_t end_position, float speed_rate = 1.0);
void LineBackward(uint8_t end_position, float speed_rate = 1.0);
//直行或后退或转向
void TurnDirection(uint8_t direction, float speed_rate = 1.0);
void TurnDirection(float speed_rate = 1.0);
//***************************************************************************************
@ -149,7 +149,7 @@ void loop()
}
//继续直行或后退或转向
TurnDirection(CalcDirection());
TurnDirection();
}
//情况二：刚完整经过普通点，下一个点为抓取点
else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == CATCH_POINT)
@ -165,7 +165,7 @@ void loop()
LineForward(FRONT_END);
//继续直行或后退或转向
TurnDirection(CalcDirection());
TurnDirection();
//抓取完成后，将越过的点视为普通点
route[next_flag][TYPE] = NORMAL_POINT;
@ -194,7 +194,7 @@ void loop()
delay(RESET_DELAY_TIME); //复原留时
//继续后退或转向
TurnDirection(CalcDirection());
TurnDirection();
}
//出现错误
else
@ -427,8 +427,10 @@ void LineBackward(uint8_t end_position, float speed_rate)
//直行或后退或转向
void TurnDirection(uint8_t direction, float speed_rate)
void TurnDirection(float speed_rate)
{
uint8_t direction = CalcDirection();
#ifdef TAICHI_DEBUG
//调试输出直行或后退或转向状态
Serial.print("#TAICHI: Turn Direction");