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Glz
2024-03-26 22:43:52 +08:00
parent f5654ba679
commit a500e2f917
2 changed files with 11 additions and 8 deletions
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14
app/gl_get_corners.c
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@@ -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;
}