From b800db528717a9770fd14490d0471aee21f63dd3 Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Mon, 1 Mar 2021 21:07:23 +0800 Subject: [PATCH] =?UTF-8?q?=E6=94=AF=E6=8C=81=E8=BD=AE=E5=AD=90=E9=80=9F?= =?UTF-8?q?=E7=8E=87=E6=AF=94=E4=B8=BA=E8=B4=9F=EF=BC=8C=E6=AD=A4=E6=97=B6?= =?UTF-8?q?=E5=8F=8D=E5=90=91=E8=BD=AC=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/moveTaiChi.cpp | 4 ++-- TaiChi/moveTaiChi.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp index 4801ee0..ae65b91 100644 --- a/TaiChi/moveTaiChi.cpp +++ b/TaiChi/moveTaiChi.cpp @@ -83,9 +83,9 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate) return; //结束函数 } - analogWrite(pin_enx, speed_rate * global_speed_rate * 255.0); //设置 PWM 波，即转速 + analogWrite(pin_enx, abs(speed_rate) * global_speed_rate * 255.0); //设置 PWM 波，即转速 - if (rotation == FORWARD_ROTATION) //向前转动 + if ((rotation == FORWARD_ROTATION && speed_rate >= 0) || (rotation == BACKWARD_ROTATION && speed_rate < 0)) //向前转动 { digitalWrite(pin_in1, LOW); digitalWrite(pin_in2, HIGH); diff --git a/TaiChi/moveTaiChi.h b/TaiChi/moveTaiChi.h index 972eeb4..ae4cc65 100644 --- a/TaiChi/moveTaiChi.h +++ b/TaiChi/moveTaiChi.h @@ -30,7 +30,7 @@ #define DEFAULT_GLOBAL_SPEED_RATE 1.0 //默认转向时一侧减速的比率 -#define DEFAULT_TRUN_SPEED_RATE 0.5 +#define DEFAULT_TRUN_SPEED_RATE -1.0 //左侧 L298N 接口定义 #define LEFT_L298N_IN1 22