StopPointTeam/TaiChi
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修正算法抓取情况的一处错误

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lxbpxylps@126.com 2021-02-15 18:28:33 +08:00
parent bf0a161622
commit cb25ea9bf5
1 changed files with 16 additions and 2 deletions
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18
TaiChi/TaiChi.ino
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@ -164,7 +164,7 @@ void loop()
TurnDirection(CalcDirection()); TurnDirection(CalcDirection());
//抓取完成后，将越过的点视为普通点 //抓取完成后，将越过的点视为普通点
route[passed_flag][TYPE] = NORMAL_POINT; route[next_flag][TYPE] = NORMAL_POINT;
} }
//情况三：刚完整经过普通点，下一个点为释放点 //情况三：刚完整经过普通点，下一个点为释放点
else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == RELEASE_POINT) else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == RELEASE_POINT)
@ -192,7 +192,21 @@ void loop()
//继续后退或转向 //继续后退或转向
TurnDirection(CalcDirection()); TurnDirection(CalcDirection());
} }
else move.Stop(); //调试用 //出现错误
else
{
move.Stop();
#ifdef TAICHI_DEBUG
Serial.println("#TAICHI: FAIL TO RUN NEW LOOP!");
Serial.print("#TAICHI: passed_flag: "); Serial.println(passed_flag);
Serial.print("#TAICHI: next_position: "); Serial.println((int)next_position);
Serial.print("#TAICHI: passed_flag TYPE: "); Serial.println((int)route[passed_flag][TYPE]);
Serial.print("#TAICHI: next_flag TYPE: "); Serial.println((int)route[next_flag][TYPE]);
#endif
while (1) {}
}
//更新标记，继续循环 //更新标记，继续循环
if (++passed_flag > max_flag) if (++passed_flag > max_flag)