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支持轮子速率比为负，此时反向转动

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lxbpxylps@126.com 2021-03-01 21:07:23 +08:00
parent 008e43adf4
commit b800db5287
2 changed files with 3 additions and 3 deletions
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4
TaiChi/moveTaiChi.cpp
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@ -83,9 +83,9 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
return; //结束函数 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_in1, LOW);
digitalWrite(pin_in2, HIGH); digitalWrite(pin_in2, HIGH);

2
TaiChi/moveTaiChi.h
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@ -30,7 +30,7 @@
#define DEFAULT_GLOBAL_SPEED_RATE 1.0 #define DEFAULT_GLOBAL_SPEED_RATE 1.0
//默认转向时一侧减速的比率 //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 //左侧 L298N 接口定义
#define LEFT_L298N_IN1 22 #define LEFT_L298N_IN1 22