暂存

app/gl_get_corners.c

@@ -26,13 +26,14 @@ void get_corners() {
         if (Lpt0_found == true && is_straight0 == false) break;
     }
 
-    if(is_straight0){
-        state_type = STRAIGHT_STATE;
-    }
     if (is_straight0 == false && Lpt0_found == false)
     {
         is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
     }
+    if (is_turn0)
+    {
+        state_type = TURN_LEFT_STATE;
+    }
     
 
 
@@ -79,9 +80,10 @@ void get_corners() {
         if (Lpt1_found == true && is_straight1 == false) break;
     }
 
-    if(is_straight1){
+    if(is_straight1 && is_straight0){
         state_type = STRAIGHT_STATE;
     }
+
     if (is_straight1 == false && Lpt1_found == false)
     {
         is_turn1 = is_curve(angle_right ,clip(angle_right_num - 10, 0,angle_right_num),0.05);
@@ -108,9 +110,9 @@ void get_corners() {
         }
     }
 
-    if (is_turn0 && is_turn1)
+    if (is_turn1)
     {
-        state_type = TURN_STATE;
+        state_type = TURN_RIGHT_STATE;
     }
     
     

app/gl_state.h

@@ -2,8 +2,9 @@
 #define STATE_H_
 
 enum state_type_e {
-    COMMON_STATE = 0,
-    TURN_STATE,
+    COMMON_STATE,
+    TURN_LEFT_STATE,
+    TURN_RIGHT_STATE,
     STRAIGHT_STATE,
 };