feat: 实验性上行数据接收

app/gl_tracking.c

@@ -112,7 +112,13 @@ void aim_distance_select(void)
 
 void ElementJudge()
 {
-    Check_shield();
+    
+    if(begin_flag == 1){
+        shield_type = SHIELD_BEGIN;
+        begin_flag = 0;
+        return;
+    }
+
     if (shield_type == SHIELD_NONE) {
         CheckGarage();
         if (garage_type == GARAGE_NONE) {
@@ -162,7 +168,11 @@ void ElementRun()
 
 void MidLineTrack()
 {
-    if (cross_type == CROSS_IN) {
+    if (shield_type == SHIELD_BEGIN) {
+        shield_type = SHIELD_NONE;
+        system_delay_ms(1000);  // 斑马线发车延时
+    }
+    else if (cross_type == CROSS_IN) {
         if (track_type == TRACK_LEFT) {
             mid_track = mid_left; // 这是为了预先分配内存
             GetMidLine_Left(pts_far_resample_left + far_Lpt0_rpts0s_id, pts_far_resample_left_count - far_Lpt0_rpts0s_id, mid_left, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);