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Glz
2024-07-05 14:12:01 +08:00
parent 7facae7a1a
commit 5d56543f64
5 changed files with 135 additions and 101 deletions
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181
app/gl_barrier.c
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@@ -3,110 +3,113 @@
enum barrier_type_e barrier_type = BARRIER_NONE;
enum s_type_e s_type = S_NONE;
uint16 time_barrier;
enum shiled_type_e shiled_type = SHILED_NONE;
float (*mid_track_s)[2];
int32_t mid_track_count_s;
int temp_min_s;
int temp_max_s;
int barrier_begin_flag = 0;
int barrier_count = 0;
void CheckBarrier()
{
if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
barrier_type = BARRIER_LEFT_BEGIN;
}
if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
barrier_type = BARRIER_RIGHT_BEGIN;
}
if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
barrier_type = BARRIER_LEFT_BEGIN;
}
if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
barrier_type = BARRIER_RIGHT_BEGIN;
}
}
void RunBarrier()
{
if (barrier_type == BARRIER_LEFT_BEGIN) {
track_type = TRACK_RIGHT;
if (barrier_begin_flag == 0) {
timer_clear(TIM_3);
timer_start(TIM_3);
barrier_begin_flag = 1;
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
// timer_start(TIM_3);
// barrier_begin_flag = 1;
// }
// }
// if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
// if (barrier_begin_flag == 1) {
// barrier_type = BARRIER_LEFT_BEGIN;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 300 && time_barrier < 600) {
// barrier_type = BARRIER_LEFT_RUNNING;
// } else if (time_barrier >= 600) {
// barrier_type = BARRIER_NONE;
// barrier_count = 1;
// barrier_begin_flag = 0;
// timer_stop(TIM_3);
// timer_clear(TIM_3);
// }
// }
// }
if (Lpt0_found) {
Lpt0_found_count++;
}
}
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
if (barrier_begin_flag == 1) {
barrier_type = BARRIER_LEFT_BEGIN;
time_barrier = timer_get(TIM_3);
if (time_barrier >= 300 && time_barrier < 600) {
barrier_type = BARRIER_LEFT_RUNNING;
} else if (time_barrier >= 600) {
barrier_type = BARRIER_NONE;
barrier_begin_flag = 0;
timer_stop(TIM_3);
timer_clear(TIM_3);
if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) {
Lpt0_found_count = 0;
barrier_type = BARRIER_LEFT_RUNNING;
track_type = TRACK_RIGHT;
timer_clear(TIM_1);
timer_start(TIM_1);
} else if (barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT;
if (timer_get(TIM_1) >= 220) {
barrier_type = BARRIER_NONE;
track_type = TRACK_RIGHT;
timer_stop(TIM_1);
timer_clear(TIM_1);
}
}
}
// if (Lpt0_found) {
// Lpt0_found_count++;
// }
// if (Lpt0_found_count >= 1) {
// Lpt0_found_count = 0;
// barrier_type = BARRIER_LEFT_RUNNING;
// track_type = TRACK_RIGHT;
// timer_clear(TIM_3);
// timer_start(TIM_3);
// }
// } else if (barrier_type == BARRIER_LEFT_RUNNING) {
// track_type = TRACK_RIGHT;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 220) {
// barrier_type = BARRIER_NONE;
// track_type = TRACK_RIGHT;
// timer_start(TIM_3);
// timer_clear(TIM_3);
// }
if (barrier_type == BARRIER_RIGHT_BEGIN) {
track_type = TRACK_LEFT;
if (barrier_begin_flag == 0) {
timer_clear(TIM_3);
timer_start(TIM_3);
barrier_begin_flag = 1;
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
// timer_start(TIM_3);
// barrier_begin_flag = 1;
// }
// }
// if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
// if (barrier_begin_flag == 1) {
// barrier_type = BARRIER_RIGHT_BEGIN;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 300 && time_barrier < 600) {
// barrier_type = BARRIER_RIGHT_RUNNING;
// } else if (time_barrier >= 600) {
// barrier_type = BARRIER_NONE;
// barrier_count = 1;
// barrier_begin_flag = 0;
// timer_stop(TIM_3);
// timer_clear(TIM_3);
// }
// }
// }
if (Lpt1_found) {
Lpt1_found_count++;
}
}
if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
if (barrier_begin_flag == 1) {
barrier_type = BARRIER_RIGHT_BEGIN;
time_barrier = timer_get(TIM_3);
if (time_barrier >= 300 && time_barrier < 600) {
barrier_type = BARRIER_RIGHT_RUNNING;
} else if (time_barrier >= 600) {
barrier_type = BARRIER_NONE;
barrier_begin_flag = 0;
timer_stop(TIM_3);
timer_clear(TIM_3);
if (Lpt1_found_count >= 1 && barrier_type == BARRIER_RIGHT_BEGIN) {
Lpt1_found_count = 0;
barrier_type = BARRIER_RIGHT_RUNNING;
track_type = TRACK_LEFT;
timer_clear(TIM_1);
timer_start(TIM_1);
} else if (barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT;
if (timer_get(TIM_1) >= 220) {
timer_stop(TIM_1);
timer_clear(TIM_1);
barrier_type = BARRIER_NONE;
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;
// timer_clear(TIM_3);
// timer_start(TIM_3);
// }
// } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
// track_type = TRACK_LEFT;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 220) {
// timer_start(TIM_3);
// timer_clear(TIM_3);
// barrier_type = BARRIER_NONE;
// track_type = TRACK_LEFT;
// }
}
void Check_s()
@@ -144,4 +147,24 @@ void RunS()
if (temp_max_s - temp_min_s > 30 || (is_straight0 && is_straight1)) {
s_type = S_NONE;
}
}
void Check_shiled(){
if (begin_flag == 1)
{
shiled_type = SHILED_BEGIN;
timer_clear(TIM_3);
timer_start(TIM_3);
begin_flag = 0;
}
if (timer_get(TIM_3) > 1000 && shiled_type == SHILED_BEGIN)
{
shiled_type = SHILED_NONE;
timer_stop(TIM_3);
timer_clear(TIM_3);
}
}