From c073145d73e4e08c308f7e3c71c00e32450ae4d2 Mon Sep 17 00:00:00 2001
From: "lxbpxylps@126.com" <lxbpxylps@126.com>
Date: Wed, 24 Feb 2021 18:10:38 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=9C=A8=E5=BC=80=E5=A7=8B?=
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---
 TaiChi/TaiChi.ino | 35 +++++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino
index 1bd5dbe..60eaaaf 100644
--- a/TaiChi/TaiChi.ino
+++ b/TaiChi/TaiChi.ino
@@ -101,6 +101,9 @@ bool is_carry = false;
 
 
 //****************************************自定函数****************************************
+//在开始运行前检测灰度参数是否正常，若不正常，异常传感器闪烁，程序不继续进行
+void CheckGrayGate(void);
+
 #define NO_JUMP 0
 #define JUMP_DEAD_ROAD 1
 //更新标记
@@ -178,6 +181,9 @@ void setup()
     move.Stop();
     servo.StopAndReset();
 
+    //在开始运行前检测灰度参数是否正常
+    CheckGrayGate();
+
     //计算最大数组下标
     max_flag = sizeof(route) / sizeof(route[0]) - 1;
 
@@ -350,6 +356,35 @@ void loop()
 }
 
 
+//在开始运行前检测灰度参数是否正常，若不正常，异常传感器闪烁，程序不继续进行
+void CheckGrayGate(void)
+{
+    //若参数正常，1 2 5 6 号传感器检测到黑色，3 4 号传感器检测到白色
+    bool is_gate_right = false;
+
+    while (!is_gate_right)
+    {
+        if (sensor.IsWhite(GRAY_1))
+            sensor.FlashGraySensor(GRAY_1);
+        else if (sensor.IsWhite(GRAY_2))
+            sensor.FlashGraySensor(GRAY_2);
+        else if (!sensor.IsWhite(GRAY_3))
+            sensor.FlashGraySensor(GRAY_3);
+        else if (!sensor.IsWhite(GRAY_4))
+            sensor.FlashGraySensor(GRAY_4);
+        else if (sensor.IsWhite(GRAY_5))
+            sensor.FlashGraySensor(GRAY_5);
+        else if (sensor.IsWhite(GRAY_6))
+            sensor.FlashGraySensor(GRAY_6);
+        else is_gate_right = true;
+    }
+
+    #ifdef TAICHI_DEBUG
+    Serial.println("#TAICHI: Gray Gate OK!");
+    #endif
+}
+
+
 //更新标记
 void UpdateFlag(uint8_t jump_choice)
 {