From 4f54956f0915a88bbe5900fd7f311b3b2147d37a Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Sun, 14 Feb 2021 13:36:38 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E6=96=B9=E5=90=91=E8=AE=A1?= =?UTF-8?q?=E7=AE=97=E5=87=BD=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/TaiChi.ino | 29 +++++++++++++++++++++-------- 1 file changed, 21 insertions(+), 8 deletions(-) diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino index 5be84f4..ea0458b 100644 --- a/TaiChi/TaiChi.ino +++ b/TaiChi/TaiChi.ino @@ -203,29 +203,42 @@ uint8_t CalcDirection(void) rx = -ry0; ry = rx0; } - + else return 254; //DEBUG //判断行进方向 if (rx == 0 && ry == 2) { if (next_position == FRONT_NEXT) { - return FORWARD; //正对下一点 + return FORWARD; } else - { - return BACKWARD; //后退，背对下一点 + { + return BACKWARD; + } + } + else if (rx == 0 && ry == 0) + { + if (next_position == FRONT_NEXT) + { + next_position = BACK_NEXT; + return BACKWARD; + } + else + { + next_position = FRONT_NEXT; + return FORWARD; } } else if (rx == -1 && ry == 1) { if (next_position == FRONT_NEXT) { - return FORLEFTWARD; //正对下一点 + return FORLEFTWARD; } else { - next_position = FRONT_NEXT; //向左后退，正对下一点 + next_position = FRONT_NEXT; return BACKLEFTWARD; } } @@ -233,11 +246,11 @@ uint8_t CalcDirection(void) { if (next_position == FRONT_NEXT) { - return FORRIGHTWARD; //正对下一点 + return FORRIGHTWARD; } else { - next_position = FRONT_NEXT; //向右后退，正对下一点 + next_position = FRONT_NEXT; return BACKRIGHTWARD; } }