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日常更新

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This commit is contained in:
Glz
2024-07-13 19:00:45 +08:00
parent af031e23d8
commit b88aaf47e5
13 changed files with 171 additions and 89 deletions
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12
app/gl_circle.c
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@@ -15,6 +15,8 @@ int32_t Right_Border_ToLeft_Circle = 0;
int32_t Left_Border_ToRight_Circle = 0;
int32_t Right_Border_ToRight_Circle = 0;
int32_t ceshi = 0;
void CheckCircle()
{
// 非圆环模式下，单边L角点, 单边长直道
@@ -59,7 +61,7 @@ void RunCircle()
}
} else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线
{
//track_type = TRACK_RIGHT;
// track_type = TRACK_RIGHT;
track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt1_found) {
pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id;
@@ -125,8 +127,8 @@ void RunCircle()
} else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
{
track_type = TRACK_RIGHT;
//track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
// track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
{
pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;
}
@@ -149,13 +151,13 @@ void RunCircle()
{
Right_Border_None_Circle++;
}
if (pts_resample_right_count > 0.7 / RESAMPLEDIST &&
Right_Border_None_Circle > FRAMENONE) {
if (pts_resample_right_count > (0.7 / RESAMPLEDIST) && Right_Border_None_Circle > FRAMENONE) {
circle_type = CIRCLE_NONE;
Right_Border_None_Circle = 0;
Right_Border_Have_Circle = 0;
Left_Border_ToLeft_Circle = 0;
Left_Border_ToRight_Circle = 0;
}
}
}