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日常更新

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This commit is contained in:
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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42
app/gl_tracking.c
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@@ -112,23 +112,27 @@ void aim_distance_select(void)
void ElementJudge()
{
CheckGarage();
if (garage_type == GARAGE_NONE) {
CheckCross();
if (cross_type == CROSS_NONE) {
CheckBarrier();
if (barrier_type == BARRIER_NONE) {
CheckCircle();
if (circle_type == CIRCLE_NONE) {
Check_s();
Check_shiled();
if (shiled_type == SHILED_NONE) {
CheckGarage();
if (garage_type == GARAGE_NONE) {
CheckCross();
if (cross_type == CROSS_NONE) {
CheckBarrier();
if (barrier_type == BARRIER_NONE) {
CheckCircle();
if (circle_type == CIRCLE_NONE) {
Check_s();
}
}
}
}
}
if (garage_type != GARAGE_NONE) {
cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE;
cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE;
barrier_type = BARRIER_NONE;
}
if (cross_type != CROSS_NONE) {
circle_type = CIRCLE_NONE;
@@ -147,12 +151,10 @@ void ElementRun()
else if (cross_type != CROSS_NONE) {
RunCross();
}
else if (circle_type != CIRCLE_NONE) {
RunCircle();
} else if (barrier_type != BARRIER_NONE) {
RunBarrier();
} else if (circle_type != CIRCLE_NONE) {
RunCircle();
} else if (s_type != S_NONE) {
// RunS();
}
@@ -274,17 +276,17 @@ void MidLineTrack()
switch (barrier_type) {
case BARRIER_LEFT_BEGIN:
// dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
pure_angle = -45.f;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f - 20;
break;
case BARRIER_LEFT_RUNNING:
pure_angle = 25.f;
pure_angle = 15.f;
break;
case BARRIER_RIGHT_BEGIN:
pure_angle = 45.f;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f + 20;
break;
case BARRIER_RIGHT_RUNNING:
// dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -25.f;
pure_angle = -15.f;
default:
// pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
if (dy > 0) {
@@ -326,7 +328,7 @@ void MidLineTrack()
// // float error_near = -atan2f(dx_near, dy_near) * 180 / PI32;
}
if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_RIGHT_IN) {
if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_RIGHT_IN || circle_type == CIRCLE_LEFT_BEGIN || circle_type == CIRCLE_RIGHT_BEGIN) {
state_type = CIRCLE_STATE;
timer_clear(TIM_3);
timer_start(TIM_3);