From 5bb145fc5d8508d65787a676f52e2db2d46bcdb1 Mon Sep 17 00:00:00 2001 From: Glz <354338225@qq.com> Date: Sat, 25 May 2024 21:24:21 +0800 Subject: [PATCH] =?UTF-8?q?=E9=81=BF=E9=9A=9C=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/gl_barrier.c | 4 ++-- app/gl_tracking.c | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/app/gl_barrier.c b/app/gl_barrier.c index 8ad72a7..85c1247 100644 --- a/app/gl_barrier.c +++ b/app/gl_barrier.c @@ -30,7 +30,7 @@ void RunBarrier() } else if (barrier_type == BARRIER_LEFT_RUNNING) { track_type = TRACK_RIGHT; time_barrier = timer_get(TIM_3); - if (time_barrier >= 1000) { + if (time_barrier >= 250) { barrier_type = BARRIER_NONE; track_type = TRACK_RIGHT; timer_start(TIM_3); @@ -53,7 +53,7 @@ void RunBarrier() } else if (barrier_type == BARRIER_RIGHT_RUNNING) { track_type = TRACK_LEFT; time_barrier = timer_get(TIM_3); - if (time_barrier >= 1000) { + if (time_barrier >= 250) { timer_start(TIM_3); timer_clear(TIM_3); barrier_type = BARRIER_NONE; diff --git a/app/gl_tracking.c b/app/gl_tracking.c index 86915b2..183e291 100644 --- a/app/gl_tracking.c +++ b/app/gl_tracking.c @@ -248,9 +248,10 @@ void MidLineTrack() float temp_near = 0; if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) { dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset; - pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 10; + pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 20; } else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING ) { dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset; + pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f + 20; } else { if (fabs(cx - near_x1) > fabs(cx - near_x2)) {