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避障修改

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This commit is contained in:
Glz
2024-03-24 16:07:39 +08:00
parent 7d5bee30d1
commit 1c65b7752e
4 changed files with 42 additions and 9 deletions
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45
app/gl_barrier.c
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@@ -14,24 +14,53 @@ void CheckBarrier() {
}
void RunBarrier() {
if (barrier_type == BARRIER_LEFT_BEGIN) // 左环开始，寻外直道右线
if (barrier_type == BARRIER_LEFT_BEGIN)
{
track_type = TRACK_RIGHT;
if (Lpt0_found)
{
Lpt0_found_count++;
}
if (Lpt0_found_count >= 1)
{
Lpt0_found_count = 0;
barrier_type = BARRIER_LEFT_RUNNING;
track_type = TRACK_RIGHT;
}
}
else if (barrier_type == BARRIER_LEFT_BEGIN && ((Lpt0_found_barrier && is_straight1) || Lpt0_found) )
else if (barrier_type == BARRIER_LEFT_RUNNING)
{
barrier_type = BARRIER_NONE;
track_type = TRACK_RIGHT;
track_type = TRACK_RIGHT;
if (Lpt0_found)
{
barrier_type = BARRIER_NONE;
track_type = TRACK_RIGHT;
}
}
if (barrier_type == BARRIER_RIGHT_BEGIN) // 左环开始，寻外直道右线
if (barrier_type == BARRIER_RIGHT_BEGIN)
{
track_type = TRACK_LEFT;
if (Lpt1_found)
{
Lpt1_found_count++;
}
if (Lpt1_found_count >= 1)
{
Lpt1_found_count = 0;
barrier_type = BARRIER_RIGHT_RUNNING;
track_type = TRACK_LEFT;
}
}
else if (barrier_type == BARRIER_RIGHT_BEGIN && ((Lpt1_found_barrier && is_straight0) || Lpt1_found) )
else if (barrier_type == BARRIER_RIGHT_RUNNING)
{
barrier_type = BARRIER_NONE;
track_type = TRACK_LEFT;
track_type = TRACK_LEFT;
if (Lpt1_found)
{
barrier_type = BARRIER_NONE;
track_type = TRACK_LEFT;
}
}
}