feat:发车靠积分屏蔽斑马线；发车起步先检查侧面风扇能否成功拖动；负压状态停车

app/by_fan_control.c

@@ -70,8 +70,8 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
  */
 void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_duty_lb, int32_t bpwm_duty_rb)
 {
-    bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 980);
+    bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 1000);
-    bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 980);
+    bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 1000);
     bpwm_duty_lb = clip_s32(bpwm_duty_lb, 2500, 6000);
     bpwm_duty_rb = clip_s32(bpwm_duty_rb, 2500, 6000);
     pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls);

app/jj_motion.c

@@ -93,14 +93,14 @@ float set_speed3   = 666.f;
 float set_speed4   = 720.f;
 int cnt1           = 0;
 int cnt2           = 0;
-int cnt3           = 0;
+int cnt3           = 0; //
-int cnt4           = 0;
+int cnt4           = 0; //
 int cnt5           = 0;
-int cnt6           = 0;
+int cnt6           = 0; //
 int cnt7           = 0;
 int cnt8           = 0;
-int cnt9           = 0;
+int cnt9           = 0; //
-int cnt10          = 0;
+int cnt10          = 0; //
 int if_start       = 0;
 float shock_stop   = 0;
 uint8_t in_state   = 0;
@@ -111,11 +111,12 @@ int32_t pwm_duty_ls;
 int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
-float qd_down    = 0.0f;
-float last_gy    = 0.0f;
 int32_t stop_cnt       = 0;
 int32_t last_lb        = 0;
 int32_t last_rb        = 0;
+float start_dis        = 0;
+int32_t game_over_flag = 0; // 任务结束
+uint8_t go_flag           = 0;
 /*
 0:无状态
 1:弯道
@@ -175,18 +176,14 @@ void sport_motion()
     if (stop_flag == 1) {
         bt_printf("finish");
         bt_fly_flag = bt_run_flag = 0;
+        game_over_flag            = 1;
     }
-    // 出界停车
+    // 出界停车,已经积分路过斑马线，保证斑马线不会触发
-    if (2 == in_stop) {
+    if (2 == in_stop && start_dis >= 1) {
-        stop_cnt++;
-        if (stop_cnt >= 5) {
         bt_printf("out");
-            stop_cnt    = 0;
         bt_fly_flag = bt_run_flag = 0;
     }
-    } else {
+
-        stop_cnt = 0;
-    }
     //////////////////////////////////////////////// 动力风扇设置 */////////////////////////////////////////////////////////
     if (1 == bt_run_flag) {
         cnt1++;
@@ -194,6 +191,7 @@ void sport_motion()
         cnt5++;
         if (if_start == 0) {
             cnt8++;
+            start_dis += in_speed * 0.000001; // 斑马线积分
             if (cnt8 >= 5000) {
                 if_start = 1;
             }
@@ -234,7 +232,7 @@ void sport_motion()
         }
 
         if (in_state == 1) {
-            set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
+            set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -100.f, 100.f));
         }
 
         last_state = in_state;
@@ -257,8 +255,14 @@ void sport_motion()
         // 并级pid，限幅
         pwm_duty_ls = (int32_t)myclip_f(180 - out_pos, 100.0f, 500.f);
         pwm_duty_rs = (int32_t)myclip_f(180 + out_pos, 100.0f, 500.f);
+        if (out_speed >= 1000) {
             pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f);
             pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f);
+        } else {
+            pwm_duty_lb = (int32_t)myclip_f(out_speed + 4 * out_gyro, 1000.0f, 3000.f);
+            pwm_duty_rb = (int32_t)myclip_f(out_speed - 4 * out_gyro, 1000.0f, 3000.f);
+        }
+
         if (pwm_duty_lb - last_lb > 1000) {
             pwm_duty_lb = (pwm_duty_lb + last_lb) / 2;
         }
@@ -275,13 +279,26 @@ void sport_motion()
     }
     ///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
     if (bt_fly_flag == 0) {
+        if (game_over_flag == 0) {
             by_pwm_update_duty(500, 500);
         } else {
-        by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
+            by_pwm_update_duty(700, 700);
-        // 防止起步拉满
+        }
-        if (bt_run_flag == 0) {
 
-            by_pwm_power_duty(680, 680, 4000, 4000);
+    } else {
+        if (in_state == 1) {
+            by_pwm_update_duty(bt_fly + 500 + in_pos, bt_fly + 500 + in_pos);
+        } else {
+            by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
+        }
+
+        // 防止起步拉满
+        if (bt_run_flag == 0&&go_flag==1) {
+            by_pwm_power_duty(550, 550, 3000, 3000);
+        }
+        else if(bt_run_flag == 0&&go_flag==2)
+        {
+            by_pwm_power_duty(550, 550, 4000, 4000);
         }
     }
 }

app/jj_motion.h

@@ -65,7 +65,7 @@ extern int32_t pwm_duty_ls;
 extern int32_t pwm_duty_rs;
 extern int32_t pwm_duty_lb;
 extern int32_t pwm_duty_rb;
-
+extern uint8_t go_flag;
 extern uint8_t in_state;
 extern uint8_t in_stop;
 void sport_pid_init();

app/page/page_menu.c

@@ -3,6 +3,7 @@
 #include "page.h"
 #include "by_frame.h"
 #include "jj_blueteeth.h"
+#include "jj_motion.h"
 
 #define LINE_HEAD 1
 #define LINE_END  5
@@ -12,7 +13,7 @@ static char Text[] = "Menu";
 static int8_t Curser      = LINE_HEAD; // 定义光标位置
 static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
 uint32_t cnt              = 0;
-uint8_t go_flag           = 0;
+
 uint32_t reset[3];
 static void Print_Menu_p(void);
 /***************************************************************************************
@@ -50,13 +51,14 @@ static void Exit()
  */
 static void Loop()
 {
+    ips200_show_string(0, 200, "go_flag:");
+    ips200_show_int(180, 200, go_flag, 2);
     if (go_flag == 1) {
-        system_delay_ms(1000);
         bt_fly_flag = 1;
-        system_delay_ms(1000);
-        bt_run_flag = 1;
 
-        go_flag = 0;
+    } else if (go_flag == 2) {
+        system_delay_ms(2000);
+        bt_run_flag = 1;
     }
 }
 
@@ -79,13 +81,18 @@ static void Event(page_event event)
             Page_Shift(Curser); // 切换到光标选中的页面
         }
     } else if (page_event_press_long == event) {
+        if (go_flag == 0) {
             go_flag = 1;
-        uint32_t temp = 0x5c;
+        } else if (go_flag == 1) {
-        for (int i = 0; i < 3; i++) {
+            go_flag = 2;
-            by_frame_send(&temp);
         }
 
-        ips200_clear();
+        // uint32_t temp = 0x5c;
+        // for (int i = 0; i < 3; i++) {
+        //     by_frame_send(&temp);
+        // }
+
+        // ips200_clear();
     }
 
     if (Curser < LINE_HEAD) {