StopPointTeam/TaiChi
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使用 millis 函数代替 micros 函数

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lxbpxylps@126.com 2021-02-18 11:31:28 +08:00
parent 27c57c65ad
commit 56cf6021ac
1 changed files with 10 additions and 10 deletions
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20
TaiChi/TaiChi.ino
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@ -62,10 +62,10 @@ int8_t route[][3] =
//****************************************可调参数**************************************** //****************************************可调参数****************************************
//抓取点移动用时 us //抓取点移动用时
#define CATCH_MOVE_DELAY_TIME 2000000 #define CATCH_MOVE_DELAY_TIME 2000
//释放点移动用时 us //释放点移动用时
#define RELEASE_MOVE_DELAY_TIME 2000000 #define RELEASE_MOVE_DELAY_TIME 2000
//重置留时 //重置留时
#define RESET_DELAY_TIME 10000 #define RESET_DELAY_TIME 10000
@ -244,7 +244,7 @@ void loop()
move.Stop(); move.Stop();
#ifdef TAICHI_DEBUG #ifdef TAICHI_DEBUG
Serial.println("#TAICHI: FAIL TO RUN NEW LOOP!"); Serial.println("#TAICHI: **********FAIL TO RUN NEW LOOP!**********");
Serial.print("#TAICHI: loop_time: "); Serial.println(loop_time); Serial.print("#TAICHI: loop_time: "); Serial.println(loop_time);
Serial.print("#TAICHI: pass: ["); Serial.print(route[passed_flag][X]); Serial.print(", "); Serial.print(route[passed_flag][Y]); Serial.print("]"); Serial.print("#TAICHI: pass: ["); Serial.print(route[passed_flag][X]); Serial.print(", "); Serial.print(route[passed_flag][Y]); Serial.print("]");
Serial.print(" flag: "); Serial.print(passed_flag); Serial.print(" flag: "); Serial.print(passed_flag);
@ -372,7 +372,7 @@ void LineForward(uint8_t end_position, float speed_rate)
#endif #endif
//记录开始时间 //记录开始时间
unsigned long begin_time = micros(); unsigned long begin_time = millis();
while(1) while(1)
{ {
@ -405,12 +405,12 @@ void LineForward(uint8_t end_position, float speed_rate)
} }
else if (end_position == CATCH_END) //到达抓取位置为止 else if (end_position == CATCH_END) //到达抓取位置为止
{ {
if (micros() - begin_time > CATCH_MOVE_DELAY_TIME) if (millis() - begin_time > CATCH_MOVE_DELAY_TIME)
break; break;
} }
else //到达释放位置为止 else //到达释放位置为止
{ {
if (micros() - begin_time > RELEASE_MOVE_DELAY_TIME) if (millis() - begin_time > RELEASE_MOVE_DELAY_TIME)
break; break;
} }
} }
@ -522,7 +522,7 @@ bool CatchAndCheckIsDone(float speed)
{ {
#ifdef TAICHI_DEBUG #ifdef TAICHI_DEBUG
//调试输出失败信息 //调试输出失败信息
Serial.println("#TAICHI: FAIL CATCH!"); Serial.println("#TAICHI: **********FAIL CATCH!**********");
#endif #endif
servo.Catch(speed); //重试，此次检测但不重试 servo.Catch(speed); //重试，此次检测但不重试
@ -534,7 +534,7 @@ bool CatchAndCheckIsDone(float speed)
{ {
#ifdef TAICHI_DEBUG #ifdef TAICHI_DEBUG
//调试输出失败信息 //调试输出失败信息
Serial.println("#TAICHI: FAIL CATCH AGAIN!"); Serial.println("#TAICHI: **********FAIL CATCH AGAIN!**********");
#endif #endif
return false; return false;