StopPointTeam/TaiChi
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修正调试相关错误

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This commit is contained in:
lxbpxylps@126.com 2021-03-25 15:02:10 +08:00
parent 14c19baf73
commit 41fa2736f6
1 changed files with 57 additions and 52 deletions
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109
TaiChi/TaiChi.ino
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@ -171,7 +171,7 @@ bool CatchAndCheck(uint8_t type = CATCH_TYPE_CATCH, float speed = 1.0);
bool OpenClawAndCheck(void);
//通讯消息处理函数
void HandleMessage(char * message);
void HandleMessage(char* message);
//***************************************************************************************
@ -183,6 +183,7 @@ void HandleMessage(char * message);
#include "MemoryUsage.h"
#define NeoSerialDebug NeoSerial
#define DEBUG_BAUT_RATE 115200
int loop_time = 0;
@ -190,14 +191,14 @@ int loop_time = 0;
//错误消息函数，用于在出现致命错误后结束程序
void DebugCanNotContinue(char* message)
{
NeoSerial.print(F("#TAICHI: CAN NOT CONTINUE WHEN ")); NeoSerial.println(message);
NeoSerial.print(F("#TAICHI: loop_time: ")); NeoSerial.println(loop_time);
NeoSerial.print(F("#TAICHI: pass: [")); NeoSerial.print(passed_point.x); NeoSerial.print(F(", ")); NeoSerial.print(passed_point.y); NeoSerial.print(F("]"));
NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)passed_point.type);
NeoSerial.print(F("#TAICHI: next: [")); NeoSerial.print(next_point.x); NeoSerial.print(F(", ")); NeoSerial.print(next_point.y); NeoSerial.print(F("]"));
NeoSerial.print(F(" next_position: ")); NeoSerial.print((int)next_position);
NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)next_point.type);
NeoSerial.print(F("#TAICHI: is_claw_catch: ")); NeoSerial.print((int)is_claw_catch); NeoSerial.print(F(" is_claw_ok: ")); NeoSerial.println((int)is_claw_ok);
NeoSerialDebug.print(F("#TAICHI: CAN NOT CONTINUE WHEN ")); NeoSerialDebug.println(message);
NeoSerialDebug.print(F("#TAICHI: loop_time: ")); NeoSerialDebug.println(loop_time);
NeoSerialDebug.print(F("#TAICHI: pass: [")); NeoSerialDebug.print(passed_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(passed_point.y); NeoSerialDebug.print(F("]"));
NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)passed_point.type);
NeoSerialDebug.print(F("#TAICHI: next: [")); NeoSerialDebug.print(next_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(next_point.y); NeoSerialDebug.print(F("]"));
NeoSerialDebug.print(F(" next_position: ")); NeoSerialDebug.print((int)next_position);
NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)next_point.type);
NeoSerialDebug.print(F("#TAICHI: is_claw_catch: ")); NeoSerialDebug.print((int)is_claw_catch); NeoSerialDebug.print(F(" is_claw_ok: ")); NeoSerialDebug.println((int)is_claw_ok);
SRamDisplay();
while (1) {}
@ -209,8 +210,8 @@ void DebugCanNotContinue(char* message)
void setup()
{
#ifdef TAICHI_DEBUG
NeoSerial.begin(DEBUG_BAUT_RATE);
NeoSerial.println(F("#TAICHI: ======================setup()====================="));
NeoSerialDebug.begin(DEBUG_BAUT_RATE);
NeoSerialDebug.println(F("#TAICHI: ======================setup()====================="));
SRamDisplay();
#endif
@ -248,14 +249,14 @@ void loop()
#ifdef TAICHI_DEBUG
loop_time++;
NeoSerial.println(F("#TAICHI: ====================New loop()===================="));
NeoSerial.print(F("#TAICHI: loop_time: ")); NeoSerial.println(loop_time);
NeoSerial.print(F("#TAICHI: pass: [")); NeoSerial.print(passed_point.x); NeoSerial.print(F(", ")); NeoSerial.print(passed_point.y); NeoSerial.print(F("]"));
NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)passed_point.type);
NeoSerial.print(F("#TAICHI: next: [")); NeoSerial.print(next_point.x); NeoSerial.print(F(", ")); NeoSerial.print(next_point.y); NeoSerial.print(F("]"));
NeoSerial.print(F(" next_position: ")); NeoSerial.print((int)next_position);
NeoSerial.print(F(" TYPE: ")); NeoSerial.println((int)next_point.type);
NeoSerial.print(F("#TAICHI: is_claw_catch: ")); NeoSerial.print((int)is_claw_catch); NeoSerial.print(F(" is_claw_ok: ")); NeoSerial.println((int)is_claw_ok);
NeoSerialDebug.println(F("#TAICHI: ====================New loop()===================="));
NeoSerialDebug.print(F("#TAICHI: loop_time: ")); NeoSerialDebug.println(loop_time);
NeoSerialDebug.print(F("#TAICHI: pass: [")); NeoSerialDebug.print(passed_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(passed_point.y); NeoSerialDebug.print(F("]"));
NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)passed_point.type);
NeoSerialDebug.print(F("#TAICHI: next: [")); NeoSerialDebug.print(next_point.x); NeoSerialDebug.print(F(", ")); NeoSerialDebug.print(next_point.y); NeoSerialDebug.print(F("]"));
NeoSerialDebug.print(F(" next_position: ")); NeoSerialDebug.print((int)next_position);
NeoSerialDebug.print(F(" TYPE: ")); NeoSerialDebug.println((int)next_point.type);
NeoSerialDebug.print(F("#TAICHI: is_claw_catch: ")); NeoSerialDebug.print((int)is_claw_catch); NeoSerialDebug.print(F(" is_claw_ok: ")); NeoSerialDebug.println((int)is_claw_ok);
SRamDisplay();
#endif
@ -488,7 +489,7 @@ void loop()
route.UpdatePosition();
#ifdef TAICHI_DEBUG
NeoSerial.println(F("#TAICHI: ====================End loop()===================="));
NeoSerialDebug.println(F("#TAICHI: ====================End loop()===================="));
#endif
}
@ -529,17 +530,17 @@ void ReadFromEEPROM(void)
delay_time_after_turn = stroage_info.delay_time_after_turn;
#ifdef TAICHI_DEBUG
NeoSerial.println(F("#TAICHI: Data based on EEPROM : "));
NeoSerial.print(F("north_left_angle: ")); NeoSerial.println(north_left_angle);
NeoSerial.print(F("north_right_angle: ")); NeoSerial.println(north_right_angle);
NeoSerial.print(F("west_left_angle: ")); NeoSerial.println(west_left_angle);
NeoSerial.print(F("west_right_angle: ")); NeoSerial.println(west_right_angle);
NeoSerial.print(F("south_left_angle: ")); NeoSerial.println(south_left_angle);
NeoSerial.print(F("south_right_angle: ")); NeoSerial.println(south_right_angle);
NeoSerial.print(F("east_left_angle: ")); NeoSerial.println(east_left_angle);
NeoSerial.print(F("east_right_angle: ")); NeoSerial.println(east_right_angle);
NeoSerial.print(F("gray_7_gate: ")); NeoSerial.println(stroage_info.gray_7_gate);
NeoSerial.print(F("delay_time_after_turn: ")); NeoSerial.println(delay_time_after_turn);
NeoSerialDebug.println(F("#TAICHI: Data based on EEPROM : "));
NeoSerialDebug.print(F("north_left_angle: ")); NeoSerialDebug.println(north_left_angle);
NeoSerialDebug.print(F("north_right_angle: ")); NeoSerialDebug.println(north_right_angle);
NeoSerialDebug.print(F("west_left_angle: ")); NeoSerialDebug.println(west_left_angle);
NeoSerialDebug.print(F("west_right_angle: ")); NeoSerialDebug.println(west_right_angle);
NeoSerialDebug.print(F("south_left_angle: ")); NeoSerialDebug.println(south_left_angle);
NeoSerialDebug.print(F("south_right_angle: ")); NeoSerialDebug.println(south_right_angle);
NeoSerialDebug.print(F("east_left_angle: ")); NeoSerialDebug.println(east_left_angle);
NeoSerialDebug.print(F("east_right_angle: ")); NeoSerialDebug.println(east_right_angle);
NeoSerialDebug.print(F("gray_7_gate: ")); NeoSerialDebug.println(stroage_info.gray_7_gate);
NeoSerialDebug.print(F("delay_time_after_turn: ")); NeoSerialDebug.println(delay_time_after_turn);
#endif
}
@ -571,7 +572,7 @@ void CheckGrayStatus(void)
}
#ifdef TAICHI_DEBUG
NeoSerial.println(F("#TAICHI: Gray Sensor Status OK!"));
NeoSerialDebug.println(F("#TAICHI: Gray Sensor Status OK!"));
#endif
}
@ -618,7 +619,9 @@ uint8_t CalcDirection(void)
rx = -ry0;
ry = rx0;
}
#ifdef TAICHI_DEBUG
else DebugCanNotContinue("CALC DIRECTION <1>"); //调试用
#endif
//判断行进方向
if (rx == 0 && ry == 2)
@ -669,7 +672,9 @@ uint8_t CalcDirection(void)
return BACKRIGHTWARD;
}
}
#ifdef TAICHI_DEBUG
else DebugCanNotContinue("CALC DIRECTION <2>"); //调试用
#endif
}
@ -685,9 +690,9 @@ void LineForward(uint8_t end_position, float speed_rate)
{
#ifdef TAICHI_DEBUG
//调试输出沿线直行状态
NeoSerial.print(F("#TAICHI: Line Forward"));
NeoSerial.print(F(" end_position: "));
NeoSerial.println((int)end_position);
NeoSerialDebug.print(F("#TAICHI: Line Forward"));
NeoSerialDebug.print(F(" end_position: "));
NeoSerialDebug.println((int)end_position);
#endif
//记录开始时间
@ -749,7 +754,7 @@ void LineForward(uint8_t end_position, float speed_rate)
#ifdef TAICHI_DEBUG
//调试输出沿线直行结束
NeoSerial.println(F("#TAICHI: End Line Forward"));
NeoSerialDebug.println(F("#TAICHI: End Line Forward"));
#endif
}
@ -759,9 +764,9 @@ void LineBackward(uint8_t end_position, float speed_rate)
{
#ifdef TAICHI_DEBUG
//调试输出沿线后退状态
NeoSerial.print(F("#TAICHI: Line Backward"));
NeoSerial.print(F(" end_position: "));
NeoSerial.println((int)end_position);
NeoSerialDebug.print(F("#TAICHI: Line Backward"));
NeoSerialDebug.print(F(" end_position: "));
NeoSerialDebug.println((int)end_position);
#endif
//记录灰度传感器匹配情况
@ -811,7 +816,7 @@ void LineBackward(uint8_t end_position, float speed_rate)
#ifdef TAICHI_DEBUG
//调试输出沿线后退结束
NeoSerial.println(F("#TAICHI: End Line Backward"));
NeoSerialDebug.println(F("#TAICHI: End Line Backward"));
#endif
}
@ -830,7 +835,7 @@ void TurnDirection(float speed_rate)
#ifdef TAICHI_DEBUG
//调试输出直行或后退或转向状态
NeoSerial.println(F("#TAICHI: JUMP THE RELEASE/GETOUT/GAIN POINT FOR STATUS REASON"));
NeoSerialDebug.println(F("#TAICHI: JUMP THE RELEASE/GETOUT/GAIN POINT FOR STATUS REASON"));
#endif
}
@ -838,9 +843,9 @@ void TurnDirection(float speed_rate)
#ifdef TAICHI_DEBUG
//调试输出直行或后退或转向状态
NeoSerial.print(F("#TAICHI: Turn Direction"));
NeoSerial.print(F(" direction: "));
NeoSerial.println((int)direction);
NeoSerialDebug.print(F("#TAICHI: Turn Direction"));
NeoSerialDebug.print(F(" direction: "));
NeoSerialDebug.println((int)direction);
#endif
if (direction == FORWARD) //继续直行
@ -918,7 +923,7 @@ void TurnDirection(float speed_rate)
#ifdef TAICHI_DEBUG
//调试输出直行或后退或转向结束
NeoSerial.println(F("#TAICHI: End Turn Direction"));
NeoSerialDebug.println(F("#TAICHI: End Turn Direction"));
#endif
}
@ -953,8 +958,8 @@ bool CatchAndCheck(uint8_t type, float speed)
{
#ifdef TAICHI_DEBUG
//调试输出失败信息
NeoSerial.print(F("#TAICHI: **********FAIL CATCH!**********"));
NeoSerial.print(F(" catch_times: ")); NeoSerial.println((int)catch_times);
NeoSerialDebug.print(F("#TAICHI: **********FAIL CATCH!**********"));
NeoSerialDebug.print(F(" catch_times: ")); NeoSerialDebug.println((int)catch_times);
#endif
if (type == CATCH_TYPE_GAIN)
@ -988,14 +993,14 @@ bool CatchAndCheck(uint8_t type, float speed)
#ifndef DISABLE_CLAW_CHECK
#ifdef TAICHI_DEBUG
//调试输出成功信息
NeoSerial.println(F("#TAICHI: SUCCESS CATCH!"));
NeoSerialDebug.println(F("#TAICHI: SUCCESS CATCH!"));
#endif
#endif
#ifdef DISABLE_CLAW_CHECK
#ifdef TAICHI_DEBUG
//调试输出结束信息
NeoSerial.println(F("#TAICHI: CATCH WITHOUT CHECK!"));
NeoSerialDebug.println(F("#TAICHI: CATCH WITHOUT CHECK!"));
#endif
#endif
@ -1010,7 +1015,7 @@ bool OpenClawAndCheck(void)
#ifdef DISABLE_CLAW_CHECK
#ifdef TAICHI_DEBUG
//调试输出信息
NeoSerial.println(F("#TAICHI: DISABLE CLAW CHECK!"));
NeoSerialDebug.println(F("#TAICHI: DISABLE CLAW CHECK!"));
#endif
is_claw_ok = true;
@ -1030,7 +1035,7 @@ bool OpenClawAndCheck(void)
{
#ifdef TAICHI_DEBUG
//调试输出成功信息
NeoSerial.println(F("#TAICHI: SUCCESS OPEN CLAW!"));
NeoSerialDebug.println(F("#TAICHI: SUCCESS OPEN CLAW!"));
#endif
is_claw_ok = true;
@ -1040,7 +1045,7 @@ bool OpenClawAndCheck(void)
#ifdef TAICHI_DEBUG
//调试输出失败信息
NeoSerial.println(F("#TAICHI: $$$$$$$$$$FAIL CLAW!$$$$$$$$$$"));
NeoSerialDebug.println(F("#TAICHI: $$$$$$$$$$FAIL CLAW!$$$$$$$$$$"));
#endif
is_claw_ok = false;