feat:增加避障时间可调参数

app/gl_barrier.c

@@ -10,7 +10,7 @@ int temp_min_s;
 int temp_max_s;
 int barrier_begin_flag = 0;
 int barrier_count      = 0;
-
+float barrirer_time=500.f;
 void CheckBarrier()
 {
     if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
@@ -33,7 +33,7 @@ void RunBarrier()
         }
         if (barrier_type == BARRIER_LEFT_RUNNING)
         {
-            if (timer_get(TIM_2) >= 500)
+            if (timer_get(TIM_2) >= barrirer_time)
             {
                 barrier_type = BARRIER_NONE;
                 timer_stop(TIM_2);
@@ -126,7 +126,7 @@ void RunBarrier()
         }
         if (barrier_type == BARRIER_RIGHT_RUNNING)
         {
-            if (timer_get(TIM_2) >= 500)
+            if (timer_get(TIM_2) >= barrirer_time)
             {
                 barrier_type = BARRIER_NONE;
                 timer_stop(TIM_2);

app/gl_barrier.h

@@ -30,7 +30,7 @@ extern float (*mid_track_s)[2];
 extern int32_t mid_track_count_s;
 extern int temp_min_s;
 extern int temp_max_s;
-
+extern float barrirer_time;
 void CheckBarrier(void);
 void Check_s(void);
 void RunBarrier(void);

app/jj_param.c

@@ -30,6 +30,7 @@ void jj_param_eeprom_init(void)
     PARAM_REG(aim_turn, &turn_aim, EFLOAT, 1, "tur:");
     PARAM_REG(baoguang, &FIX_BINTHRESHOLD, EFLOAT, 1, "bao:");
     PARAM_REG(auto_exp_param, &auto_exp, EFLOAT, 1, "exp:");
+    PARAM_REG(barr_time, &barrirer_time, EFLOAT, 1, "bar:");
     jj_param_read(); // 注冊
 }
 /**

app/jj_param.h

@@ -30,6 +30,7 @@ typedef enum {
     // 第二页参数
     baoguang = Page2_head,
     auto_exp_param,
+    barr_time,
     Page3_head,
     DATA_IN_FLASH_NUM,