From 987db4d8e959535d69b93bedc2fe48b8950236a8 Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Mon, 19 Apr 2021 14:41:16 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E5=A4=9A=E5=87=BA=E9=94=99?= =?UTF-8?q?=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/MemoryUsage.cpp | 38 ++++----- TaiChi/MemoryUsage.h | 46 +++++------ TaiChi/TaiChi.ino | 127 ++++++++++++++++-------------- TaiChi/moveTaiChi.cpp | 26 +++---- TaiChi/moveTaiChi.h | 3 + TaiChi/radioTaiChi.cpp | 166 +++++++++++++++++++++------------------- TaiChi/radioTaiChi.h | 11 ++- TaiChi/routeTaiChi.cpp | 15 +++- TaiChi/routeTaiChi.h | 4 + TaiChi/sensorTaiChi.cpp | 72 ++++++++--------- TaiChi/sensorTaiChi.h | 3 + TaiChi/servoTaiChi.cpp | 24 +++--- TaiChi/servoTaiChi.h | 3 + 13 files changed, 297 insertions(+), 241 deletions(-) diff --git a/TaiChi/MemoryUsage.cpp b/TaiChi/MemoryUsage.cpp index 107be19..36a66f8 100644 --- a/TaiChi/MemoryUsage.cpp +++ b/TaiChi/MemoryUsage.cpp @@ -92,24 +92,24 @@ void SRamDisplay(void) available -= data_size + bss_size + heap_size + stack_size; - NeoSerial.print(F("+----------------+ ")); NeoSerial.print((int)&__data_start); NeoSerial.println(" (__data_start)"); - NeoSerial.print(F("+ data +")); NeoSerial.println(); - NeoSerial.print(F("+ variables + size = ")); NeoSerial.println(data_size); - NeoSerial.print(F("+----------------+ ")); NeoSerial.print((int)&__data_end); NeoSerial.println(" (__data_end / __bss_start)"); - NeoSerial.print(F("+ bss +")); NeoSerial.println(); - NeoSerial.print(F("+ variables + size = ")); NeoSerial.println(bss_size); - NeoSerial.print(F("+----------------+ ")); NeoSerial.print((int)&__bss_end); NeoSerial.println(" (__bss_end / __heap_start)"); - NeoSerial.print(F("+ heap + size = ")); NeoSerial.println(heap_size); - NeoSerial.print(F("+----------------+ ")); NeoSerial.print((int)heap_end); NeoSerial.println(" (__brkval if not 0, or __heap_start)"); - NeoSerial.print(F("+ +")); NeoSerial.println(); - NeoSerial.print(F("+ +")); NeoSerial.println(); - NeoSerial.print(F("+ FREE RAM + size = ")); NeoSerial.println(available); - NeoSerial.print(F("+ +")); NeoSerial.println(); - NeoSerial.print(F("+ +")); NeoSerial.println(); - NeoSerial.print(F("+----------------+ ")); NeoSerial.print((int)SP); NeoSerial.println(" (SP)"); - NeoSerial.print(F("+ stack + size = ")); NeoSerial.println(stack_size); - NeoSerial.print(F("+----------------+ ")); NeoSerial.print((int)RAMEND); NeoSerial.println(" (RAMEND / __stack)"); + NeoSerialDebug.print(F("+----------------+ ")); NeoSerialDebug.print((int)&__data_start); NeoSerialDebug.println(" (__data_start)"); + NeoSerialDebug.print(F("+ data +")); NeoSerialDebug.println(); + NeoSerialDebug.print(F("+ variables + size = ")); NeoSerialDebug.println(data_size); + NeoSerialDebug.print(F("+----------------+ ")); NeoSerialDebug.print((int)&__data_end); NeoSerialDebug.println(" (__data_end / __bss_start)"); + NeoSerialDebug.print(F("+ bss +")); NeoSerialDebug.println(); + NeoSerialDebug.print(F("+ variables + size = ")); NeoSerialDebug.println(bss_size); + NeoSerialDebug.print(F("+----------------+ ")); NeoSerialDebug.print((int)&__bss_end); NeoSerialDebug.println(" (__bss_end / __heap_start)"); + NeoSerialDebug.print(F("+ heap + size = ")); NeoSerialDebug.println(heap_size); + NeoSerialDebug.print(F("+----------------+ ")); NeoSerialDebug.print((int)heap_end); NeoSerialDebug.println(" (__brkval if not 0, or __heap_start)"); + NeoSerialDebug.print(F("+ +")); NeoSerialDebug.println(); + NeoSerialDebug.print(F("+ +")); NeoSerialDebug.println(); + NeoSerialDebug.print(F("+ FREE RAM + size = ")); NeoSerialDebug.println(available); + NeoSerialDebug.print(F("+ +")); NeoSerialDebug.println(); + NeoSerialDebug.print(F("+ +")); NeoSerialDebug.println(); + NeoSerialDebug.print(F("+----------------+ ")); NeoSerialDebug.print((int)SP); NeoSerialDebug.println(" (SP)"); + NeoSerialDebug.print(F("+ stack + size = ")); NeoSerialDebug.println(stack_size); + NeoSerialDebug.print(F("+----------------+ ")); NeoSerialDebug.print((int)RAMEND); NeoSerialDebug.println(" (RAMEND / __stack)"); - NeoSerial.println(); - NeoSerial.println(); + NeoSerialDebug.println(); + NeoSerialDebug.println(); } \ No newline at end of file diff --git a/TaiChi/MemoryUsage.h b/TaiChi/MemoryUsage.h index 5342a20..74c8042 100644 --- a/TaiChi/MemoryUsage.h +++ b/TaiChi/MemoryUsage.h @@ -23,6 +23,8 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA #include #include +#define NeoSerialDebug NeoSerial3 + /*! \mainpage A full explanation in french can be read at http://www.locoduino.org/ecrire/?exec=article&action=redirect&type=article&id=149 . @@ -119,27 +121,27 @@ extern uint8_t *__bss_end; // Memory addresses // -/// Print data start on NeoSerial console. -#define MEMORY_PRINT_START { NeoSerial.print(F("Data start:")); NeoSerial.println((int) &__data_start); } -/// Print data end / heap start on NeoSerial console. -#define MEMORY_PRINT_HEAPSTART { NeoSerial.print(F("Heap start:")); NeoSerial.println((int)&__heap_start); } -/// Print heap end / free ram area on NeoSerial console. -#define MEMORY_PRINT_HEAPEND { NeoSerial.print(F("Heap end:")); NeoSerial.println(__brkval == 0 ? (int)&__heap_start : (int)__brkval); } -/// Print free ram end / stack start on NeoSerial console. -#define MEMORY_PRINT_STACKSTART { NeoSerial.print(F("Stack start:")); NeoSerial.println((int) SP); } -/// Print end of memory on NeoSerial console. -#define MEMORY_PRINT_END { NeoSerial.print(F("Stack end:")); NeoSerial.println((int) RAMEND); } +/// Print data start on NeoSerialDebug console. +#define MEMORY_PRINT_START { NeoSerialDebug.print(F("Data start:")); NeoSerialDebug.println((int) &__data_start); } +/// Print data end / heap start on NeoSerialDebug console. +#define MEMORY_PRINT_HEAPSTART { NeoSerialDebug.print(F("Heap start:")); NeoSerialDebug.println((int)&__heap_start); } +/// Print heap end / free ram area on NeoSerialDebug console. +#define MEMORY_PRINT_HEAPEND { NeoSerialDebug.print(F("Heap end:")); NeoSerialDebug.println(__brkval == 0 ? (int)&__heap_start : (int)__brkval); } +/// Print free ram end / stack start on NeoSerialDebug console. +#define MEMORY_PRINT_STACKSTART { NeoSerialDebug.print(F("Stack start:")); NeoSerialDebug.println((int) SP); } +/// Print end of memory on NeoSerialDebug console. +#define MEMORY_PRINT_END { NeoSerialDebug.print(F("Stack end:")); NeoSerialDebug.println((int) RAMEND); } -/// Print heap size on NeoSerial console. -#define MEMORY_PRINT_HEAPSIZE { NeoSerial.print(F("Heap size:")); NeoSerial.println((int) (__brkval == 0 ? (int)&__heap_start : (int)__brkval) - (int)&__heap_start); } -/// Print stack size on NeoSerial console. -#define MEMORY_PRINT_STACKSIZE { NeoSerial.print(F("Stack size:")); NeoSerial.println((int) RAMEND - (int)SP); } -/// Print free ram size on NeoSerial console. -#define MEMORY_PRINT_FREERAM { NeoSerial.print(F("Free ram:")); NeoSerial.println((int) SP - (int) (__brkval == 0 ? (int)&__heap_start : (int)__brkval)); } -/// Print total SRAM size on NeoSerial console. -#define MEMORY_PRINT_TOTALSIZE { NeoSerial.print(F("SRAM size:")); NeoSerial.println((int) RAMEND - (int) &__data_start); } +/// Print heap size on NeoSerialDebug console. +#define MEMORY_PRINT_HEAPSIZE { NeoSerialDebug.print(F("Heap size:")); NeoSerialDebug.println((int) (__brkval == 0 ? (int)&__heap_start : (int)__brkval) - (int)&__heap_start); } +/// Print stack size on NeoSerialDebug console. +#define MEMORY_PRINT_STACKSIZE { NeoSerialDebug.print(F("Stack size:")); NeoSerialDebug.println((int) RAMEND - (int)SP); } +/// Print free ram size on NeoSerialDebug console. +#define MEMORY_PRINT_FREERAM { NeoSerialDebug.print(F("Free ram:")); NeoSerialDebug.println((int) SP - (int) (__brkval == 0 ? (int)&__heap_start : (int)__brkval)); } +/// Print total SRAM size on NeoSerialDebug console. +#define MEMORY_PRINT_TOTALSIZE { NeoSerialDebug.print(F("SRAM size:")); NeoSerialDebug.println((int) RAMEND - (int) &__data_start); } -/// Displays the 'map' of the current state of the Arduino's SRAM memory on the NeoSerial console. +/// Displays the 'map' of the current state of the Arduino's SRAM memory on the NeoSerialDebug console. void SRamDisplay(void); // @@ -153,7 +155,7 @@ void SRamDisplay(void); #define STACK_COMPUTE { mu_stack_size = (RAMEND - SP) > mu_stack_size ? (RAMEND - SP) : mu_stack_size;} /// Compute the current maximum and show it now with customized text. -#define STACK_PRINT_TEXT(text) { STACK_COMPUTE; NeoSerial.print(text); NeoSerial.println(mu_stack_size); } +#define STACK_PRINT_TEXT(text) { STACK_COMPUTE; NeoSerialDebug.print(text); NeoSerialDebug.println(mu_stack_size); } /// Compute the current maximum and show it now with default text. #define STACK_PRINT STACK_PRINT_TEXT(F("Stack Maximum Size (Instrumentation method): ")); @@ -163,7 +165,7 @@ void SRamDisplay(void); // /// Shows the current free SRAM memory with customized text. -#define FREERAM_PRINT_TEXT(text) NeoSerial.print(text); NeoSerial.println(mu_freeRam()); +#define FREERAM_PRINT_TEXT(text) NeoSerialDebug.print(text); NeoSerialDebug.println(mu_freeRam()); /// Shows the current free SRAM memory with default text. #define FREERAM_PRINT FREERAM_PRINT_TEXT(F("Free Ram Size: ")); @@ -179,7 +181,7 @@ int mu_freeRam(void); uint16_t mu_StackCount(void); /// Compute the current maximum and show it now with customized text. -#define STACKPAINT_PRINT_TEXT(text) { NeoSerial.print(text); NeoSerial.println(mu_StackCount()); } +#define STACKPAINT_PRINT_TEXT(text) { NeoSerialDebug.print(text); NeoSerialDebug.println(mu_StackCount()); } /// Compute the current maximum and show it now with default text. #define STACKPAINT_PRINT STACKPAINT_PRINT_TEXT(F("Stack Maximum Size (Painting method): ")); diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino index b1f1b0f..d7dceec 100644 --- a/TaiChi/TaiChi.ino +++ b/TaiChi/TaiChi.ino @@ -26,11 +26,11 @@ Radio radio; //通讯实例 //抓取点移动用时 #define CATCH_MOVE_DELAY_TIME 500 //释放点向前移动用时 -#define RELEASE_MOVE_FORWARD_DELAY_TIME 1000 +#define RELEASE_MOVE_FORWARD_DELAY_TIME 1200 //释放点暂停用时 #define STOP_DELAY_TIME 500 //释放点向后向前移动用时 -#define RELEASE_MOVE_BACKWARD_AND_FORWARD_DELAY_TIME 460 +#define RELEASE_MOVE_BACKWARD_AND_FORWARD_DELAY_TIME 480 //增益点向后向前移动用时 #define GAIN_MOVE_BACKWARD_AND_FORWARD_DELAY_TIME 750 //增益点稍稍向前移动推环用时 @@ -70,7 +70,7 @@ Radio radio; //通讯实例 //****************************************全局变量**************************************** //GND Pins -const uint8_t gnd_pins[8] PROGMEM = {14, 15, 32, 33, 34, 35, 36, 37}; +const uint8_t gnd_pins[8] = {12, 13, 32, 33, 34, 35, 36, 37}; //EEPROM 储存的调试数据 struct StroageInfo @@ -153,11 +153,14 @@ float CalcFixSpeedRate(float gray_deviation_rate); #define BACK_END 1 #define CATCH_END 2 #define RELEASE_END 3 + +#define ENABLE_FIX 0 +#define DISABLE_FIX 1 //沿线直行，在触发条件后离开函数但不停止 -void LineForward(uint8_t end_position, float speed_rate = 1.0); +void LineForward(uint8_t end_position, uint8_t type = ENABLE_FIX, float speed_rate = 1.0); //沿线后退，在触发条件后离开函数但不停止 -void LineBackward(uint8_t end_position, float speed_rate = 1.0); +void LineBackward(uint8_t end_position, uint8_t type = ENABLE_FIX, float speed_rate = 1.0); //直行或后退或转向，完成后离开函数但不停止。会自动跳过无需前往的释放点 void TurnDirection(float speed_rate = 1.0); @@ -171,7 +174,7 @@ 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(const char* message); //*************************************************************************************** @@ -183,14 +186,16 @@ void HandleMessage(char* message); #include "MemoryUsage.h" -#define NeoSerialDebug NeoSerial +#define NeoSerialDebug NeoSerial3 #define DEBUG_BAUT_RATE 115200 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) +void DebugCanNotContinue(const char* message) { + move.Stop(); + 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("]")); @@ -226,7 +231,7 @@ void setup() radio.BeginTransmit(); //从 EEPROM 读取数据 - ReadFromEEPROM(); + ReadEEPROM(); //开启 HMC5883 的 I2C 通讯 sensor.StartHMC5883(); @@ -370,7 +375,7 @@ void loop() is_carry = false; //沿线后退，到后端传感器接触下一条线离开函数 - LineBackward(BACK_END); + LineBackward(BACK_END, DISABLE_FIX); //继续后退或转向 TurnDirection(); @@ -394,7 +399,7 @@ void loop() else if (passed_point.type == GETOUT_POINT && next_point.type == NORMAL_POINT) { //沿线后退，到前端传感器接触线离开函数 - LineBackward(FRONT_END); + LineBackward(FRONT_END, DISABLE_FIX); //底盘携带清空 is_carry = false; @@ -508,7 +513,7 @@ void SetGNDPins(void) //从 EEPROM 读取数据 -void ReadFromEEPROM(void) +void ReadEEPROM(void) { //从 EEPROM 读取调试数据 EEPROM.get(EEPROM_ADDRESS, stroage_info); @@ -530,17 +535,17 @@ void ReadFromEEPROM(void) delay_time_after_turn = stroage_info.delay_time_after_turn; #ifdef TAICHI_DEBUG - 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); + NeoSerialDebug.println(F("#TAICHI: Data based on EEPROM: ")); + NeoSerialDebug.print(F("#TAICHI: north_left_angle: ")); NeoSerialDebug.println(north_left_angle); + NeoSerialDebug.print(F("#TAICHI: north_right_angle: ")); NeoSerialDebug.println(north_right_angle); + NeoSerialDebug.print(F("#TAICHI: west_left_angle: ")); NeoSerialDebug.println(west_left_angle); + NeoSerialDebug.print(F("#TAICHI: west_right_angle: ")); NeoSerialDebug.println(west_right_angle); + NeoSerialDebug.print(F("#TAICHI: south_left_angle: ")); NeoSerialDebug.println(south_left_angle); + NeoSerialDebug.print(F("#TAICHI: south_right_angle: ")); NeoSerialDebug.println(south_right_angle); + NeoSerialDebug.print(F("#TAICHI: east_left_angle: ")); NeoSerialDebug.println(east_left_angle); + NeoSerialDebug.print(F("#TAICHI: east_right_angle: ")); NeoSerialDebug.println(east_right_angle); + NeoSerialDebug.print(F("#TAICHI: gray_7_gate: ")); NeoSerialDebug.println(stroage_info.gray_7_gate); + NeoSerialDebug.print(F("#TAICHI: delay_time_after_turn: ")); NeoSerialDebug.println(delay_time_after_turn); #endif } @@ -686,7 +691,7 @@ float CalcFixSpeedRate(float gray_deviation_rate) //沿线直行，在触发条件后离开函数但不停止 -void LineForward(uint8_t end_position, float speed_rate) +void LineForward(uint8_t end_position, uint8_t type, float speed_rate) { #ifdef TAICHI_DEBUG //调试输出沿线直行状态 @@ -695,29 +700,34 @@ void LineForward(uint8_t end_position, float speed_rate) NeoSerialDebug.println((int)end_position); #endif + move.Forward(speed_rate); + //记录开始时间 unsigned long begin_time = millis(); //记录灰度传感器匹配情况 bool gray_match_a = false; bool gray_match_b = false; - while(1) + while (1) { - if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线 + if (type == ENABLE_FIX) { - move.ForRightward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_3))); - } - else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线 - { - move.ForLeftward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_4))); - } - else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上 - { - move.Forward(speed_rate); - } - else //均不符合，则低速后退，尝试回到白线上 - { - //move.Backward(LINE_FIND_SPEED_RATE); + if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线 + { + move.ForRightward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_3))); + } + else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线 + { + move.ForLeftward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_4))); + } + else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上 + { + move.Forward(speed_rate); + } + else //均不符合 + { + //move.Backward(LINE_FIND_SPEED_RATE); + } } if (end_position == FRONT_END) //前端接触线离开函数 @@ -760,7 +770,7 @@ void LineForward(uint8_t end_position, float speed_rate) //沿线后退，在触发条件后离开函数但不停止 -void LineBackward(uint8_t end_position, float speed_rate) +void LineBackward(uint8_t end_position, uint8_t type, float speed_rate) { #ifdef TAICHI_DEBUG //调试输出沿线后退状态 @@ -773,23 +783,28 @@ void LineBackward(uint8_t end_position, float speed_rate) bool gray_match_a = false; bool gray_match_b = false; - while(1) + move.Backward(speed_rate); + + while (1) { - if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线 + if (type == ENABLE_FIX) { - move.BackRightward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_3))); - } - else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线 - { - move.BackLeftward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_4))); - } - else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上 - { - move.Backward(speed_rate); - } - else //均不符合，则低速前进，尝试回到白线上 - { - //move.Forward(LINE_FIND_SPEED_RATE); + if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线 + { + move.BackRightward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_3))); + } + else if (sensor.IsWhite(GRAY_3) && !sensor.IsWhite(GRAY_4)) //右侧越线 + { + move.BackLeftward(speed_rate, CalcFixSpeedRate(sensor.GrayDeviationRate(GRAY_4))); + } + else if (sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //在白线上 + { + move.Backward(speed_rate); + } + else //均不符合 + { + //move.Forward(LINE_FIND_SPEED_RATE); + } } if (end_position == FRONT_END) //前端接触线离开函数 @@ -1054,7 +1069,7 @@ bool OpenClawAndCheck(void) //通讯消息处理函数 -void HandleMessage(char* message) +void HandleMessage(const char* message) { radio.Send("Get the message: "); radio.Send(message); diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp index 1ba7f1a..fa2c18f 100644 --- a/TaiChi/moveTaiChi.cpp +++ b/TaiChi/moveTaiChi.cpp @@ -123,8 +123,8 @@ void Move::Forward(float speed_rate) #ifdef MOVE_DEBUG //调试输出前进状态 - NeoSerial.print(F("#MOVE: Move Forward")); - NeoSerial.print(F(" speed_rate: ")); NeoSerial.println(speed_rate); + NeoSerialDebug.print(F("#MOVE: Move Forward")); + NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.println(speed_rate); #endif } @@ -143,8 +143,8 @@ void Move::Backward(float speed_rate) #ifdef MOVE_DEBUG //调试输出后退状态 - NeoSerial.print(F("#MOVE: Move Backward")); - NeoSerial.print(F(" speed_rate: ")); NeoSerial.println(speed_rate); + NeoSerialDebug.print(F("#MOVE: Move Backward")); + NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.println(speed_rate); #endif } @@ -163,8 +163,8 @@ void Move::ForLeftward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向前左转状态 - NeoSerial.print(F("#MOVE: Move ForLeftward")); - NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate); + NeoSerialDebug.print(F("#MOVE: Move ForLeftward")); + NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate); #endif } @@ -183,8 +183,8 @@ void Move::ForRightward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向前右转状态 - NeoSerial.print(F("#MOVE: Move ForRightward")); - NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate); + NeoSerialDebug.print(F("#MOVE: Move ForRightward")); + NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate); #endif } @@ -203,8 +203,8 @@ void Move::BackLeftward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向后左转状态 - NeoSerial.print(F("#MOVE: Move BackLeftward")); - NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate); + NeoSerialDebug.print(F("#MOVE: Move BackLeftward")); + NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate); #endif } @@ -223,8 +223,8 @@ void Move::BackRightward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向后右转状态 - NeoSerial.print(F("#MOVE: Move BackRightward")); - NeoSerial.print(F(" speed_rate: ")); NeoSerial.print(speed_rate); NeoSerial.print(F(" turn_speed_rate: ")); NeoSerial.println(turn_speed_rate); + NeoSerialDebug.print(F("#MOVE: Move BackRightward")); + NeoSerialDebug.print(F(" speed_rate: ")); NeoSerialDebug.print(speed_rate); NeoSerialDebug.print(F(" turn_speed_rate: ")); NeoSerialDebug.println(turn_speed_rate); #endif } @@ -243,7 +243,7 @@ void Move::Stop(void) #ifdef MOVE_DEBUG //调试输出制动状态 - NeoSerial.println(F("#MOVE: Move Stop")); + NeoSerialDebug.println(F("#MOVE: Move Stop")); #endif } diff --git a/TaiChi/moveTaiChi.h b/TaiChi/moveTaiChi.h index 7feecb1..c4eab3c 100644 --- a/TaiChi/moveTaiChi.h +++ b/TaiChi/moveTaiChi.h @@ -5,6 +5,9 @@ //注释以关闭调试功能 #define MOVE_DEBUG +#ifdef MOVE_DEBUG +#define NeoSerialDebug NeoSerial +#endif //轮胎定义 #define LEFT_A_WHEEL 0 diff --git a/TaiChi/radioTaiChi.cpp b/TaiChi/radioTaiChi.cpp index 4168fbb..9319f33 100644 --- a/TaiChi/radioTaiChi.cpp +++ b/TaiChi/radioTaiChi.cpp @@ -23,12 +23,14 @@ void Radio::BeginTransmit(unsigned long baud_rate) //发送 -void Radio::Send(char* message, uint8_t send_type, uint8_t send_times) +void Radio::Send(const char* message, uint8_t send_type, uint8_t send_times) { //强制发送，禁用接收中断，防止发送被打断 if (send_type == FORCE_SEND) DisableReceiveInterrupt(); + static unsigned char send_code = '0'; + //生成完整通信包 char full_message[FULL_MESSAGE_SIZE]; uint8_t message_length = strlen(message); @@ -46,7 +48,14 @@ void Radio::Send(char* message, uint8_t send_type, uint8_t send_times) } else if (i == BLANK_CHAR_LENGTH) { - full_message[i] = START_CHAR; + full_message[i] = CODE_CHAR; + + full_message[++i] = send_code++; + + if (send_code > '9') + send_code = '0'; + + full_message[++i] = START_CHAR; } else if (j < message_length && j < MAX_REAL_MESSAGE_SIZE) { @@ -79,11 +88,11 @@ void Radio::Send(char* message, uint8_t send_type, uint8_t send_times) } #ifdef RADIO_DEBUG - NeoSerial.print(F("#RADIO: SEND: ")); + NeoSerialDebug.print(F("#RADIO: SEND: ")); full_message[FULL_MESSAGE_SIZE - 1] = '\0'; - NeoSerial.print(full_message); - NeoSerial.print(F(" TIMES: ")); - NeoSerial.println(send_times); + NeoSerialDebug.print(full_message); + NeoSerialDebug.print(F(" TIMES: ")); + NeoSerialDebug.println(send_times); #endif if (send_type == FORCE_SEND) @@ -115,102 +124,103 @@ void Radio::EnableReceiveInterrupt() //恢复接收中断 //接收，使用中断触发 bool Radio::Receive(uint8_t ch, uint8_t status) { - static long begin_time = millis(); + static bool is_code_record = false; static bool is_start_record = false; static bool is_check_record = false; - static bool is_end_record = false; - static char message[FULL_MESSAGE_SIZE]; - static char check_str[CHECK_STR_LENGTH + 1]; + static char message[FULL_MESSAGE_SIZE] = ""; + static char check_str[CHECK_STR_LENGTH + 1] = ""; + static unsigned char this_package_code = 0; + static unsigned char last_package_code = 0; static uint8_t i = 0, j = 0; - //若上一次中断已在 100 ms前，可以认为当前是一次新的传输 - if (millis() - begin_time > 100) + switch (ch) { - begin_time = millis(); //更新时间 - + case CODE_CHAR: + { + is_code_record = true; is_start_record = false; is_check_record = false; - is_end_record = false; - } - else + + //重置字符串 + for (uint8_t k = 0; k < i; k++) + message[k] = '\0'; + for (uint8_t k = 0; k < j; k++) + check_str[k] = '\0'; + + i = 0; + j = 0; + } break; + + case START_CHAR: { - begin_time = millis(); //更新时间 - - switch (ch) + if (is_code_record == true) { - case START_CHAR: + is_code_record = false; + is_start_record = true; + } + } break; + + case CHECK_CHAR: + { + if (is_start_record == true) { - if (is_end_record == false) - { - is_start_record = true; - is_check_record = false; - - //重置字符串 - for (uint8_t k = 0; k < i; k++) - message[k] = '\0'; - for (uint8_t k = 0; k < j; k++) - check_str[k] = '\0'; + is_start_record = false; + is_check_record = true; + } + } break; - i = 0; - j = 0; - } - } break; - - case CHECK_CHAR: + case END_CHAR: + { + if (is_check_record == true) { - if (is_end_record == false && is_start_record == true) - { - is_start_record = false; - is_check_record = true; - } - } break; + is_check_record = false; - case END_CHAR: - { - if (is_end_record == false && is_check_record == true) - { - is_check_record = false; + if (j <= CHECK_STR_LENGTH) + check_str[j] = '\0'; - if (j <= CHECK_STR_LENGTH) - check_str[j] = '\0'; - - if (atoi(check_str) == strlen(message)) //位数校验成功 + if (atoi(check_str) == strlen(message)) //位数校验成功 + { + if (this_package_code != last_package_code) { - is_end_record = true; - #ifdef RADIO_DEBUG - NeoSerial.print(F("#RADIO: RECEIVE: ")); - NeoSerial.println(message); + NeoSerialDebug.print(F("#RADIO: RECEIVE: ")); + NeoSerialDebug.println(message); #endif hm_func(message); - } - else //位数校验失败 - { - #ifdef RADIO_DEBUG - NeoSerial.println(F("#RADIO: RECEIVE CHECK FAIL!")); - #endif - } - } - } break; - default: - { - if (is_start_record == true) - { - if (i < FULL_MESSAGE_SIZE) - message[i] = ch; - i++; + last_package_code = this_package_code; + } } - else if (is_check_record == true) - { - if (j <= CHECK_STR_LENGTH) - check_str[j] = ch; - j++; + else //位数校验失败 + { + #ifdef RADIO_DEBUG + NeoSerialDebug.println(F("#RADIO: RECEIVE CHECK FAIL!")); + #endif } } + } break; + + default: + { + if (is_code_record == true) + { + this_package_code = ch; + } + else if (is_start_record == true) + { + if (i < FULL_MESSAGE_SIZE) + message[i] = ch; + i++; + } + else if (is_check_record == true) + { + if (j <= CHECK_STR_LENGTH) + check_str[j] = ch; + j++; } } - + } + return false; } \ No newline at end of file diff --git a/TaiChi/radioTaiChi.h b/TaiChi/radioTaiChi.h index c190098..6074cec 100644 --- a/TaiChi/radioTaiChi.h +++ b/TaiChi/radioTaiChi.h @@ -7,6 +7,10 @@ //注释以关闭调试功能 #define RADIO_DEBUG +#ifdef RADIO_DEBUG +#define NeoSerialDebug NeoSerial3 +#endif + //默认与 HC-12 连接串口 #define RADIO_SERIAL_NUM NeoSerial2 //与 HC-12 串口通信波特率 @@ -15,13 +19,14 @@ //通信包大小 #define FULL_MESSAGE_SIZE 50 //通信包最大有效信息大小 -#define MAX_REAL_MESSAGE_SIZE 41 +#define MAX_REAL_MESSAGE_SIZE 39 //通信包前段空字符填充长度 #define BLANK_CHAR_LENGTH 4 //通信包校验段字符串长度 #define CHECK_STR_LENGTH 2 //通信包标志字符 #define BLANK_CHAR '~' +#define CODE_CHAR '?' #define START_CHAR '!' #define CHECK_CHAR '@' #define END_CHAR '#' @@ -36,7 +41,7 @@ //回调函数指针 -typedef void (*HandleMessageFunction)(char*); +typedef void (*HandleMessageFunction)(const char*); class Radio @@ -46,7 +51,7 @@ public: static void BeginTransmit(unsigned long baud_rate = RADIO_BAUD_RATE); //打开串口 - static void Send(char* message, uint8_t send_type = NO_FORCE_SEND, uint8_t send_times = DEFAULT_SEND_TIMES); //发送 + static void Send(const char* message, uint8_t send_type = NO_FORCE_SEND, uint8_t send_times = DEFAULT_SEND_TIMES); //发送 static void SetHandleMessageFunction(HandleMessageFunction hm_func); //设置接收回调函数 static void DisableReceiveInterrupt(); //禁用接收中断 diff --git a/TaiChi/routeTaiChi.cpp b/TaiChi/routeTaiChi.cpp index ea89b75..433a6f3 100644 --- a/TaiChi/routeTaiChi.cpp +++ b/TaiChi/routeTaiChi.cpp @@ -1,6 +1,13 @@ +#include + #include "routeTaiChi.h" +#ifdef ROUTE_DEBUG +#include +#endif + + //静态变量 Point* Route::head_point = NULL; Point* Route::passed_point = NULL; @@ -56,6 +63,10 @@ void Route::SetNextNextPointType(uint8_t type) void Route::UpdatePosition(void) { passed_point = passed_point->next; + + #ifdef ROUTE_DEBUG + NeoSerialDebug.println(F("#ROUTE: UPDATE POSITION!")); + #endif } @@ -275,9 +286,9 @@ Point* Route::AddPoint(Point* front_point, int8_t x, int8_t y, uint8_t type, Poi //生成基本路径点链 void Route::InitBaseRoute(void) -{ +{ //基本路径数组 - const static int8_t base_route [][3] PROGMEM = + const static int8_t base_route [][3] = { {0, 0, NORMAL_POINT}, {0, 1, NORMAL_POINT}, diff --git a/TaiChi/routeTaiChi.h b/TaiChi/routeTaiChi.h index f04c00a..5c182f5 100644 --- a/TaiChi/routeTaiChi.h +++ b/TaiChi/routeTaiChi.h @@ -7,6 +7,10 @@ //注释以关闭调试功能 #define ROUTE_DEBUG +#ifdef ROUTE_DEBUG +#define NeoSerialDebug NeoSerial3 +#endif + //坐标点操作定义 #define NORMAL_POINT 0 //普通点 #define CATCH_POINT 1 //抓取点 diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp index cd59b7f..5e51c22 100644 --- a/TaiChi/sensorTaiChi.cpp +++ b/TaiChi/sensorTaiChi.cpp @@ -86,13 +86,13 @@ void Sensor::FlashGraySensor(uint8_t gray_sensor_num) //调试输出闪烁信息 switch (gray_sensor_num) { - case GRAY_1: NeoSerial.println(F("#SENSOR: FLASH GRAY_1 NOW!")); break; - case GRAY_2: NeoSerial.println(F("#SENSOR: FLASH GRAY_2 NOW!")); break; - case GRAY_3: NeoSerial.println(F("#SENSOR: FLASH GRAY_3 NOW!")); break; - case GRAY_4: NeoSerial.println(F("#SENSOR: FLASH GRAY_4 NOW!")); break; - case GRAY_5: NeoSerial.println(F("#SENSOR: FLASH GRAY_5 NOW!")); break; - case GRAY_6: NeoSerial.println(F("#SENSOR: FLASH GRAY_6 NOW!")); break; - case GRAY_7: NeoSerial.println(F("#SENSOR: FLASH GRAY_7 NOW!")); + case GRAY_1: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_1 NOW!")); break; + case GRAY_2: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_2 NOW!")); break; + case GRAY_3: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_3 NOW!")); break; + case GRAY_4: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_4 NOW!")); break; + case GRAY_5: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_5 NOW!")); break; + case GRAY_6: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_6 NOW!")); break; + case GRAY_7: NeoSerialDebug.println(F("#SENSOR: FLASH GRAY_7 NOW!")); } #endif @@ -125,18 +125,18 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num) //调试输出灰度值 switch (gray_sensor_num) { - case GRAY_1: NeoSerial.print(F("#SENSOR: GRAY_1 and gate_val: ")); break; - case GRAY_2: NeoSerial.print(F("#SENSOR: GRAY_2 and gate_val: ")); break; - case GRAY_3: NeoSerial.print(F("#SENSOR: GRAY_3 and gate_val: ")); break; - case GRAY_4: NeoSerial.print(F("#SENSOR: GRAY_4 and gate_val: ")); break; - case GRAY_5: NeoSerial.print(F("#SENSOR: GRAY_5 and gate_val: ")); break; - case GRAY_6: NeoSerial.print(F("#SENSOR: GRAY_6 and gate_val: ")); break; - case GRAY_7: NeoSerial.print(F("#SENSOR: GRAY_7 and gate_val: ")); + case GRAY_1: NeoSerialDebug.print(F("#SENSOR: GRAY_1 and gate_val: ")); break; + case GRAY_2: NeoSerialDebug.print(F("#SENSOR: GRAY_2 and gate_val: ")); break; + case GRAY_3: NeoSerialDebug.print(F("#SENSOR: GRAY_3 and gate_val: ")); break; + case GRAY_4: NeoSerialDebug.print(F("#SENSOR: GRAY_4 and gate_val: ")); break; + case GRAY_5: NeoSerialDebug.print(F("#SENSOR: GRAY_5 and gate_val: ")); break; + case GRAY_6: NeoSerialDebug.print(F("#SENSOR: GRAY_6 and gate_val: ")); break; + case GRAY_7: NeoSerialDebug.print(F("#SENSOR: GRAY_7 and gate_val: ")); } - NeoSerial.print(gray_val); - NeoSerial.print(F(" ")); - NeoSerial.println(gray_gate); + NeoSerialDebug.print(gray_val); + NeoSerialDebug.print(F(" ")); + NeoSerialDebug.println(gray_gate); #endif if (gray_val > gray_gate) @@ -170,25 +170,25 @@ float Sensor::GrayDeviationRate(uint8_t gray_sensor_num) //调试输出灰度值 switch (gray_sensor_num) { - case GRAY_1: NeoSerial.print(F("#SENSOR: GRAY_1 and gate_val: ")); break; - case GRAY_2: NeoSerial.print(F("#SENSOR: GRAY_2 and gate_val: ")); break; - case GRAY_3: NeoSerial.print(F("#SENSOR: GRAY_3 and gate_val: ")); break; - case GRAY_4: NeoSerial.print(F("#SENSOR: GRAY_4 and gate_val: ")); break; - case GRAY_5: NeoSerial.print(F("#SENSOR: GRAY_5 and gate_val: ")); break; - case GRAY_6: NeoSerial.print(F("#SENSOR: GRAY_6 and gate_val: ")); break; - case GRAY_7: NeoSerial.print(F("#SENSOR: GRAY_7 and gate_val: ")); + case GRAY_1: NeoSerialDebug.print(F("#SENSOR: GRAY_1 and gate_val: ")); break; + case GRAY_2: NeoSerialDebug.print(F("#SENSOR: GRAY_2 and gate_val: ")); break; + case GRAY_3: NeoSerialDebug.print(F("#SENSOR: GRAY_3 and gate_val: ")); break; + case GRAY_4: NeoSerialDebug.print(F("#SENSOR: GRAY_4 and gate_val: ")); break; + case GRAY_5: NeoSerialDebug.print(F("#SENSOR: GRAY_5 and gate_val: ")); break; + case GRAY_6: NeoSerialDebug.print(F("#SENSOR: GRAY_6 and gate_val: ")); break; + case GRAY_7: NeoSerialDebug.print(F("#SENSOR: GRAY_7 and gate_val: ")); } - NeoSerial.print(gray_val); - NeoSerial.print(F(" ")); - NeoSerial.print(gray_gate); + NeoSerialDebug.print(gray_val); + NeoSerialDebug.print(F(" ")); + NeoSerialDebug.print(gray_gate); #endif deviarion_rate = (float)gray_val / gray_gate; #ifdef SENSOR_DEBUG - NeoSerial.print(F(" deviarion_rate: ")); - NeoSerial.println(deviarion_rate); + NeoSerialDebug.print(F(" deviarion_rate: ")); + NeoSerialDebug.println(deviarion_rate); #endif return deviarion_rate; @@ -210,12 +210,12 @@ bool Sensor::IsPushed(uint8_t button_num) #ifdef SENSOR_DEBUG //调试输出按钮状态 if (button_num == BUTTON_1) - NeoSerial.print(F("#SENSOR: BUTTON_1: ")); - else NeoSerial.print(F("#SENSOR: BUTTON_2: ")); + NeoSerialDebug.print(F("#SENSOR: BUTTON_1: ")); + else NeoSerialDebug.print(F("#SENSOR: BUTTON_2: ")); if (button_val == LOW) - NeoSerial.println(F("pushed")); - else NeoSerial.println(F("released")); + NeoSerialDebug.println(F("pushed")); + else NeoSerialDebug.println(F("released")); #endif if (button_val == LOW) @@ -235,7 +235,7 @@ void Sensor::StartHMC5883(void) #ifdef SENSOR_DEBUG //调试输出 - NeoSerial.println(F("#SENSOR: Start HMC5883")); + NeoSerialDebug.println(F("#SENSOR: Start HMC5883")); #endif } @@ -270,8 +270,8 @@ float Sensor::GetAngle(void) #ifdef SENSOR_DEBUG //调试输出朝向角 - NeoSerial.print(F("#SENSOR: Angle Value: ")); - NeoSerial.println(angle); + NeoSerialDebug.print(F("#SENSOR: Angle Value: ")); + NeoSerialDebug.println(angle); #endif return angle; diff --git a/TaiChi/sensorTaiChi.h b/TaiChi/sensorTaiChi.h index 91583f8..27369ca 100644 --- a/TaiChi/sensorTaiChi.h +++ b/TaiChi/sensorTaiChi.h @@ -5,6 +5,9 @@ //注释以关闭调试功能 #define SENSOR_DEBUG +#ifdef SENSOR_DEBUG +#define NeoSerialDebug NeoSerial3 +#endif //灰度传感器 OUT 接口定义 #define GRAY_1_OUT A0 diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp index c3de9a0..4ef0c49 100644 --- a/TaiChi/servoTaiChi.cpp +++ b/TaiChi/servoTaiChi.cpp @@ -45,9 +45,9 @@ void Servo::MoveServo(uint8_t servo_id, uint16_t position, uint16_t time) #ifdef SERVO_DEBUG //调试输出动作组执行信息 - NeoSerial.print(F("#SERVO: MoveServo: ")); NeoSerial.print((int)servo_id); - NeoSerial.print(F(" position: ")); NeoSerial.print((int)position); - NeoSerial.print(F(" time: ")); NeoSerial.println((int)time); + NeoSerialDebug.print(F("#SERVO: MoveServo: ")); NeoSerialDebug.print((int)servo_id); + NeoSerialDebug.print(F(" position: ")); NeoSerialDebug.print((int)position); + NeoSerialDebug.print(F(" time: ")); NeoSerialDebug.println((int)time); #endif } @@ -70,8 +70,8 @@ void Servo::RunActionGroup(uint8_t action_num, uint16_t times) #ifdef SERVO_DEBUG //调试输出动作组执行信息 - NeoSerial.print(F("#SERVO: RunServoActionGroup: ")); - NeoSerial.println((int)action_num); + NeoSerialDebug.print(F("#SERVO: RunServoActionGroup: ")); + NeoSerialDebug.println((int)action_num); #endif } @@ -89,7 +89,7 @@ void Servo::StopActionGroup(void) #ifdef SERVO_DEBUG //调试输出动作组停止信息 - NeoSerial.println(F("#SERVO: StopServoActionGroup")); + NeoSerialDebug.println(F("#SERVO: StopServoActionGroup")); #endif } @@ -112,10 +112,10 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, float speed) #ifdef SERVO_DEBUG //调试输出动作组速度设定信息 - NeoSerial.print(F("#SERVO: SetServoActionGroupSpeed: ")); - NeoSerial.print((int)action_num); - NeoSerial.print(F(" Speed: ")); - NeoSerial.println(speed); + NeoSerialDebug.print(F("#SERVO: SetServoActionGroupSpeed: ")); + NeoSerialDebug.print((int)action_num); + NeoSerialDebug.print(F(" Speed: ")); + NeoSerialDebug.println(speed); #endif } @@ -168,7 +168,7 @@ void Servo::Release(float speed) //增益点放下爪子，指定速度 -void Servo::GainDown(float speed = SERVO_NORMAL_SPEED) +void Servo::GainDown(float speed) { SetActionGroupSpeed(ACTION_GAINDOWN_NUM, speed); RunActionGroup(ACTION_GAINDOWN_NUM, 1); @@ -176,7 +176,7 @@ void Servo::GainDown(float speed = SERVO_NORMAL_SPEED) //增益点抓取，指定速度 -void Servo::GainCatch(float speed = SERVO_NORMAL_SPEED) +void Servo::GainCatch(float speed) { SetActionGroupSpeed(ACTION_GAINCATCH_NUM, speed); RunActionGroup(ACTION_GAINCATCH_NUM, 1); diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h index 40d9b10..c0778be 100644 --- a/TaiChi/servoTaiChi.h +++ b/TaiChi/servoTaiChi.h @@ -7,6 +7,9 @@ //注释以关闭调试功能 #define SERVO_DEBUG +#ifdef SERVO_DEBUG +#define NeoSerialDebug NeoSerial3 +#endif //与舵机控制板连接串口 //使用 Mega 板 18 19 作为串口通信端口