StopPointTeam/TaiChi
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修改 TurnDirection 函数参数

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lxbpxylps@126.com 2021-02-15 19:17:59 +08:00
parent 0efadcd9da
commit ddb0bf0f81
1 changed files with 7 additions and 5 deletions
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12
TaiChi/TaiChi.ino
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@ -99,7 +99,7 @@ void LineForward(uint8_t end_position, float speed_rate = 1.0);
void LineBackward(uint8_t end_position, float speed_rate = 1.0); void LineBackward(uint8_t end_position, float speed_rate = 1.0);
//直行或后退或转向 //直行或后退或转向
void TurnDirection(uint8_t direction, float speed_rate = 1.0); void TurnDirection(float speed_rate = 1.0);
//*************************************************************************************** //***************************************************************************************
@ -149,7 +149,7 @@ void loop()
} }
//继续直行或后退或转向 //继续直行或后退或转向
TurnDirection(CalcDirection()); TurnDirection();
} }
//情况二：刚完整经过普通点，下一个点为抓取点 //情况二：刚完整经过普通点，下一个点为抓取点
else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == CATCH_POINT) else if (route[passed_flag][TYPE] == NORMAL_POINT && route[next_flag][TYPE] == CATCH_POINT)
@ -165,7 +165,7 @@ void loop()
LineForward(FRONT_END); LineForward(FRONT_END);
//继续直行或后退或转向 //继续直行或后退或转向
TurnDirection(CalcDirection()); TurnDirection();
//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[next_flag][TYPE] = NORMAL_POINT; route[next_flag][TYPE] = NORMAL_POINT;
@ -194,7 +194,7 @@ void loop()
delay(RESET_DELAY_TIME); //复原留时 delay(RESET_DELAY_TIME); //复原留时
//继续后退或转向 //继续后退或转向
TurnDirection(CalcDirection()); TurnDirection();
} }
//出现错误 //出现错误
else else
@ -427,8 +427,10 @@ void LineBackward(uint8_t end_position, float speed_rate)
//直行或后退或转向 //直行或后退或转向
void TurnDirection(uint8_t direction, float speed_rate) void TurnDirection(float speed_rate)
{ {
uint8_t direction = CalcDirection();
#ifdef TAICHI_DEBUG #ifdef TAICHI_DEBUG
//调试输出直行或后退或转向状态 //调试输出直行或后退或转向状态
Serial.print("#TAICHI: Turn Direction"); Serial.print("#TAICHI: Turn Direction");