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完善整机调试，增加暂停功能

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lxbpxylps@126.com 2021-02-17 12:42:28 +08:00
parent ddb0bf0f81
commit fe4c21ea0f
1 changed files with 18 additions and 1 deletions
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17
TaiChi/TaiChi.ino
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@ -3,9 +3,22 @@
#include "servoTaiChi.h" //舵机库 #include "servoTaiChi.h" //舵机库
//****************************************调试相关****************************************
//注释以关闭调试功能 //注释以关闭调试功能
#define TAICHI_DEBUG #define TAICHI_DEBUG
#ifdef TAICHI_DEBUG
#define DEBUG_PAUSE_INTERRUPTNUM 2 //PIN 21
#define DEBUG_PAUSE_PIN 21
//中断函数，用于调试时暂停程序
void DebugPause(void)
{
while (digitalRead(DEBUG_PAUSE_PIN) == LOW) {}
}
#endif
//***************************************************************************************
Move move; //轮胎运动实例 Move move; //轮胎运动实例
Sensor sensor; //传感器实例 Sensor sensor; //传感器实例
@ -106,6 +119,7 @@ void TurnDirection(float speed_rate = 1.0);
void setup() void setup()
{ {
#ifdef TAICHI_DEBUG #ifdef TAICHI_DEBUG
attachInterrupt(DEBUG_PAUSE_INTERRUPTNUM, DebugPause, LOW);
Serial.begin(115200); Serial.begin(115200);
Serial.println("#TAICHI: ======================setup()====================="); Serial.println("#TAICHI: ======================setup()=====================");
#endif #endif
@ -127,7 +141,10 @@ void setup()
void loop() void loop()
{ {
#ifdef TAICHI_DEBUG #ifdef TAICHI_DEBUG
static int loop_time = 0;
loop_time++;
Serial.println("#TAICHI: ====================New loop()===================="); Serial.println("#TAICHI: ====================New loop()====================");
Serial.print("#TAICHI: loop_time: "); Serial.println(loop_time);
Serial.print("#TAICHI: passed_flag: "); Serial.println(passed_flag); Serial.print("#TAICHI: passed_flag: "); Serial.println(passed_flag);
Serial.print("#TAICHI: next_position: "); Serial.println((int)next_position); 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: passed_flag TYPE: "); Serial.println((int)route[passed_flag][TYPE]);