From fe4c21ea0f2987e6b439166c7848ba8b25cdb293 Mon Sep 17 00:00:00 2001
From: "lxbpxylps@126.com" <lxbpxylps@126.com>
Date: Wed, 17 Feb 2021 12:42:28 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E5=96=84=E6=95=B4=E6=9C=BA=E8=B0=83?=
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---
 TaiChi/TaiChi.ino | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino
index c8d01c4..817ab39 100644
--- a/TaiChi/TaiChi.ino
+++ b/TaiChi/TaiChi.ino
@@ -3,9 +3,22 @@
 #include "servoTaiChi.h" //舵机库
 
 
+//****************************************调试相关****************************************
 //注释以关闭调试功能
 #define TAICHI_DEBUG
 
+#ifdef TAICHI_DEBUG
+
+#define DEBUG_PAUSE_INTERRUPTNUM 2 //PIN 21
+#define DEBUG_PAUSE_PIN 21
+//中断函数，用于调试时暂停程序
+void DebugPause(void)
+{
+    while (digitalRead(DEBUG_PAUSE_PIN) == LOW) {}
+}
+#endif
+//***************************************************************************************
+
 
 Move move; //轮胎运动实例
 Sensor sensor; //传感器实例
@@ -103,9 +116,10 @@ void TurnDirection(float speed_rate = 1.0);
 //***************************************************************************************
 
 
-void setup() 
+void setup()
 {
     #ifdef TAICHI_DEBUG
+    attachInterrupt(DEBUG_PAUSE_INTERRUPTNUM, DebugPause, LOW);
     Serial.begin(115200);
     Serial.println("#TAICHI: ======================setup()=====================");
     #endif
@@ -127,7 +141,10 @@ void setup()
 void loop()
 {
     #ifdef TAICHI_DEBUG
+    static int loop_time = 0;
+    loop_time++;
     Serial.println("#TAICHI: ====================New loop()====================");
+    Serial.print("#TAICHI: loop_time: "); Serial.println(loop_time);
     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]);