StopPointTeam/TaiChi
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新增低速重新寻线时减速比率宏

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lxbpxylps@126.com 2021-02-15 13:24:30 +08:00
parent 5530e6c0fd
commit bf0a161622
1 changed files with 4 additions and 2 deletions
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TaiChi/TaiChi.ino
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@ -63,6 +63,8 @@ int8_t route[][3] =
//修正循迹时单侧减速比率 //修正循迹时单侧减速比率
#define LINE_FIX_SPEED_RATE 0.8 #define LINE_FIX_SPEED_RATE 0.8
//低速重新寻线时减速比率
#define LINE_FIND_SPEED_RATE 0.5
//*************************************************************************************** //***************************************************************************************
@ -325,7 +327,7 @@ void LineForward(uint8_t end_position, float speed_rate)
} }
else //均不符合，则低速后退，尝试回到白线上 else //均不符合，则低速后退，尝试回到白线上
{ {
move.Backward(0.5); move.Backward(LINE_FIND_SPEED_RATE);
} }
if (end_position == FRONT_END) //前端接触线为止 if (end_position == FRONT_END) //前端接触线为止
@ -383,7 +385,7 @@ void LineBackward(uint8_t end_position, float speed_rate)
} }
else //均不符合，则低速前进，尝试回到白线上 else //均不符合，则低速前进，尝试回到白线上
{ {
move.Forward(0.5); move.Forward(LINE_FIND_SPEED_RATE);
} }