From 0f45c981a605bae19b1c0e8f2bba9aef40da0eaf Mon Sep 17 00:00:00 2001
From: Glz <354338225@qq.com>
Date: Sun, 30 Jun 2024 15:55:49 +0800
Subject: [PATCH] =?UTF-8?q?=E7=8A=B6=E6=80=81=E4=B8=8B=E5=8F=91=E5=BB=B6?=
 =?UTF-8?q?=E6=97=B6?=
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---
 app/gl_tracking.c | 87 ++++++++++++++++++++++++++++++-----------------
 1 file changed, 55 insertions(+), 32 deletions(-)

diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index a2bbee0..05b1b18 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -14,6 +14,7 @@ float (*rpts)[2];
 int rpts_num;
 float last_pure_angle = 0.0f;
 int8_t turn_flag      = 0;
+int circle_flag = 1;
 // 计算最小二乘法斜率的函数
 float leastSquaresSlope(float points[][2], int n)
 {
@@ -293,45 +294,67 @@ void MidLineTrack()
         // // float dn_near = Q_sqrt(dx_near * dx_near + dy_near * dy_near);
         // // float error_near = -atan2f(dx_near, dy_near) * 180 / PI32;
     }
-    if (circle_type == CIRCLE_LEFT_IN ||  circle_type == CIRCLE_RIGHT_IN ) {
-        state_type = CIRCLE_STATE;
-    }
-    if (circle_type == CIRCLE_LEFT_RUNNING ||  circle_type == CIRCLE_RIGHT_RUNNING ||  circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT ||  circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END)
-    {
-        state_type = CIRCLE_RUNNING_STATE;
-    }
-    if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING)
-    {
-        state_type = BARRIER_STATE;
-    }
-    
-    
-    if (cross_type == CROSS_BEGIN || cross_type == CROSS_IN) {
-        state_type = STRAIGHT_STATE;
-    }
-    last_state = state_type;
-    if (state_type == STRAIGHT_STATE) {
-        aim_distance = straight_aim;
-    } else if (state_type == TURN_STATE) {
-        aim_distance = mid_aim;
-    }
-    // }else{
-    //     aim_distance = common_aim;
-    // }
 
-    if (last_state == STRAIGHT_STATE && (state_type == TURN_STATE || state_type == CIRCLE_STATE)) {
-        turn_flag = 1;
+    if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_RIGHT_IN) {
+        state_type = CIRCLE_STATE;
         timer_clear(TIM_3);
         timer_start(TIM_3);
     }
-    if (turn_flag == 1) {
-        aim_distance = turn_aim;
-
+    if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END) {
+        if (circle_flag == 1)
+        {
+            state_type = CIRCLE_STATE;
+        }
+        
         uint16 ti = timer_get(TIM_3);
-        if (ti >= 2000) {
-            turn_flag = 0;
+        if (ti >= 1000) {
             timer_stop(TIM_3);
             timer_clear(TIM_3);
+            
+            circle_flag = 0;
         }
+        if (circle_flag == 0)
+        {
+            state_type = CIRCLE_RUNNING_STATE;
+        }
+    
     }
+
+    if (circle_type == CIRCLE_NONE)
+    {
+        circle_flag = 1;
+    }
+    
+    
+    
+
+    if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
+        state_type = BARRIER_STATE;
+    }
+
+    if (cross_type == CROSS_BEGIN || cross_type == CROSS_IN) {
+        state_type = STRAIGHT_STATE;
+    }
+    // last_state = state_type;
+    if (state_type == STRAIGHT_STATE) {
+        aim_distance = straight_aim;
+    } else if (state_type == TURN_STATE) {
+        aim_distance = turn_aim;
+    }
+
+    // if (last_state == STRAIGHT_STATE && (state_type == TURN_STATE || state_type == CIRCLE_STATE)) {
+    //     turn_flag = 1;
+    //     timer_clear(TIM_3);
+    //     timer_start(TIM_3);
+    // }
+    // if (turn_flag == 1) {
+    //     aim_distance = turn_aim;
+
+    //     uint16 ti = timer_get(TIM_3);
+    //     if (ti >= 2000) {
+    //         turn_flag = 0;
+    //         timer_stop(TIM_3);
+    //         timer_clear(TIM_3);
+    //     }
+    // }
 }