From ac981b51b35d32708cdf0b268cda04b531f3be41 Mon Sep 17 00:00:00 2001
From: "lxbpxylps@126.com" <lxbpxylps@126.com>
Date: Wed, 10 Mar 2021 23:36:24 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=BD=93=E5=89=8D=E8=BD=AC?=
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---
 TaiChi/moveTaiChi.cpp | 29 ++++++++++++++++++++---------
 TaiChi/moveTaiChi.h   |  4 +++-
 2 files changed, 23 insertions(+), 10 deletions(-)

diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp
index ae65b91..631c4c9 100644
--- a/TaiChi/moveTaiChi.cpp
+++ b/TaiChi/moveTaiChi.cpp
@@ -6,7 +6,7 @@
 Move::Move()
 {
     global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE;
-    current_move = STOP;
+    current_direction = STOP;
     current_speed_rate = 0.0;
 }
 
@@ -29,7 +29,7 @@ void Move::SetGlobalSpeedRate(float global_speed_rate)
 //获取当前运动方向
 uint8_t Move::GetCurrentMove(void)
 {
-    return current_move;
+    return current_direction;
 }
 
 
@@ -40,6 +40,13 @@ float Move::GetCurrentSpeedRate(void)
 }
 
 
+//获取当前转向时一侧减速的比率
+float Move::GetCurrentTurnSpeedRate(void)
+{
+    return current_turn_speed_rate;
+}
+
+
 //控制某个轮子转动
 void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
 {
@@ -106,7 +113,7 @@ void Move::Forward(float speed_rate)
     Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, speed_rate);
     Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, speed_rate);
 
-    current_move = FORWARD;
+    current_direction = FORWARD;
     current_speed_rate = speed_rate;
 
     #ifdef MOVE_DEBUG
@@ -125,7 +132,7 @@ void Move::Backward(float speed_rate)
     Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, speed_rate);
     Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
 
-    current_move = BACKWARD;    
+    current_direction = BACKWARD;    
     current_speed_rate = speed_rate;
 
     #ifdef MOVE_DEBUG
@@ -144,8 +151,9 @@ void Move::ForLeftward(float speed_rate, float turn_speed_rate)
     Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, speed_rate);
     Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, speed_rate);
 
-    current_move = FORLEFTWARD;
+    current_direction = FORLEFTWARD;
     current_speed_rate = speed_rate;
+    current_turn_speed_rate = turn_speed_rate;
 
     #ifdef MOVE_DEBUG
     //调试输出向前左转状态
@@ -163,8 +171,9 @@ void Move::ForRightward(float speed_rate, float turn_speed_rate)
     Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
     Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
 
-    current_move = FORRIGHTWARD;   
+    current_direction = FORRIGHTWARD;   
     current_speed_rate = speed_rate;
+    current_turn_speed_rate = turn_speed_rate;
 
     #ifdef MOVE_DEBUG
     //调试输出向前右转状态
@@ -182,8 +191,9 @@ void Move::BackLeftward(float speed_rate, float turn_speed_rate)
     Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, speed_rate);
     Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
 
-    current_move = BACKLEFTWARD;    
+    current_direction = BACKLEFTWARD;    
     current_speed_rate = speed_rate;
+    current_turn_speed_rate = turn_speed_rate;
 
     #ifdef MOVE_DEBUG
     //调试输出向后左转状态
@@ -201,8 +211,9 @@ void Move::BackRightward(float speed_rate, float turn_speed_rate)
     Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
     Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
 
-    current_move = BACKRIGHTWARD;     
+    current_direction = BACKRIGHTWARD;     
     current_speed_rate = speed_rate;
+    current_turn_speed_rate = turn_speed_rate;
 
     #ifdef MOVE_DEBUG
     //调试输出向后右转状态
@@ -220,7 +231,7 @@ void Move::Stop(void)
     Wheel(RIGHT_A_WHEEL, STOP_ROTATION);
     Wheel(RIGHT_B_WHEEL, STOP_ROTATION);  
 
-    current_move = STOP;
+    current_direction = STOP;
     current_speed_rate = 0;
 
     #ifdef MOVE_DEBUG
diff --git a/TaiChi/moveTaiChi.h b/TaiChi/moveTaiChi.h
index dd96e69..af1b3d0 100644
--- a/TaiChi/moveTaiChi.h
+++ b/TaiChi/moveTaiChi.h
@@ -59,6 +59,7 @@ public:
 
     uint8_t GetCurrentMove(void); //获取当前运动方向
     float GetCurrentSpeedRate(void); //获取当前运动速度比率
+    float GetCurrentTurnSpeedRate(void); //获取当前转向时一侧减速的比率
 
     void Wheel(uint8_t wheel, uint8_t rotation, float speed_rate = 1.0); //控制某个轮子转动
 
@@ -74,8 +75,9 @@ public:
 
 private:
     float global_speed_rate; //全局速度比率
-    uint8_t current_move; //当前运动状态
+    uint8_t current_direction; //当前运动状态
     float current_speed_rate; //当前运动速度比率
+    float current_turn_speed_rate; //当前转向时一侧减速的比率
 };