日常

app/gl_barrier.c

@@ -24,32 +24,26 @@ void RunBarrier()
 {
     if (barrier_type == BARRIER_LEFT_BEGIN) {
         track_type = TRACK_RIGHT;
-        if (barrier_begin_flag == 0)
-        {
+        if (barrier_begin_flag == 0) {
             timer_clear(TIM_3);
             timer_start(TIM_3);
             barrier_begin_flag = 1;
         }
-
-        if (barrier_begin_flag == 1)
-        {
+    }
+    if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
+        if (barrier_begin_flag == 1) {
             barrier_type = BARRIER_LEFT_BEGIN;
             time_barrier = timer_get(TIM_3);
-            if (time_barrier >= 1000 && time_barrier < 2000)
-            {
+            if (time_barrier >= 300 && time_barrier < 600) {
                 barrier_type = BARRIER_LEFT_RUNNING;
-            }
-            else if (time_barrier >= 1500)
-                {
+            } else if (time_barrier >= 600) {
                 barrier_type       = BARRIER_NONE;
                 barrier_begin_flag = 0;
                 timer_stop(TIM_3); 
                 timer_clear(TIM_3);
             }
-
-            
         }
-        
+    }
 
     //     if (Lpt0_found) {
     //         Lpt0_found_count++;
@@ -70,34 +64,28 @@ void RunBarrier()
     //         timer_start(TIM_3);
     //         timer_clear(TIM_3);
     //     }
-    }
 
     if (barrier_type == BARRIER_RIGHT_BEGIN) {
         track_type = TRACK_LEFT;
-        if (barrier_begin_flag == 0)
-        {
+        if (barrier_begin_flag == 0) {
             timer_clear(TIM_3);
             timer_start(TIM_3);
             barrier_begin_flag = 1;
         }
-
-        if (barrier_begin_flag == 1)
-        {
+    }
+    if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
+        if (barrier_begin_flag == 1) {
             barrier_type = BARRIER_RIGHT_BEGIN;
             time_barrier = timer_get(TIM_3);
-            if (time_barrier >= 1000)
-            {
+            if (time_barrier >= 300 && time_barrier < 600) {
                 barrier_type = BARRIER_RIGHT_RUNNING;
-                if (time_barrier >= 2000)
-                {
+            } else if (time_barrier >= 600) {
                 barrier_type       = BARRIER_NONE;
                 barrier_begin_flag = 0;
                 timer_stop(TIM_3);
                 timer_clear(TIM_3);
             }
-                
         }
-            
     }
 
     //     if (Lpt1_found) {
@@ -120,10 +108,9 @@ void RunBarrier()
     //         track_type   = TRACK_LEFT;
     //     }
 }
-}
 
-
-void Check_s(){
+void Check_s()
+{
     if (track_type == TRACK_LEFT) {
         mid_track_s       = mid_left;
         mid_track_count_s = mid_left_count;
@@ -135,35 +122,26 @@ void Check_s(){
     int min_s = 1000;
     int max_s = 1;
 
-    for (int i = 0; i < mid_track_count_s; i++)
-    {
-        if (mid_track_s[i][1] < min_s)
-        {
+    for (int i = 0; i < mid_track_count_s; i++) {
+        if (mid_track_s[i][1] < min_s) {
             min_s      = mid_track_s[i][1];
             temp_min_s = min_s;
         }
-        if (mid_track_s[i][1] > max_s)
-        {
+        if (mid_track_s[i][1] > max_s) {
             max_s      = mid_track_s[i][1];
             temp_max_s = max_s;
         }
-        
     }
 
-
-    if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5)
-    {
+    if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5) {
         s_type = S_BEGIN;
     }
-    
 }
 
-
-void RunS(){
-
-    if (temp_max_s - temp_min_s >30 || (is_straight0 && is_straight1))
+void RunS()
 {
+
+    if (temp_max_s - temp_min_s > 30 || (is_straight0 && is_straight1)) {
         s_type = S_NONE;
     }
-    
 }

app/gl_get_corners.c

@@ -59,7 +59,7 @@ void get_corners()
         float conf = fabs(angle_left_barrier[i]) - (fabs(angle_left_barrier[im1]) + fabs(angle_left_barrier[ip1])) / 2;
 
         // L 角点阈值
-        if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
+        if (Lpt0_found_barrier == false && (40. / 180. * PI32) < conf && conf < (160. / 180. * PI32) && i < 0.6 / RESAMPLEDIST) {
             Lpt0_rpts0s_id_barrier = i;
             Lpt0_found_barrier     = true;
         }
@@ -116,7 +116,7 @@ void get_corners()
         int ip1    = clip(i + (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
         float conf = fabs(angle_right_barrier[i]) - (fabs(angle_right_barrier[im1]) + fabs(angle_right_barrier[ip1])) / 2;
 
-        if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
+        if (Lpt1_found_barrier == false && (40. / 180. * PI32) < conf && conf < 160. / 180. * PI32 && i < 0.6 / RESAMPLEDIST) {
             Lpt1_rpts1s_id_barrier = i;
             Lpt1_found_barrier     = true;
         }

app/gl_tracking.c

@@ -270,20 +270,22 @@ void MidLineTrack()
         float dy        = cy - rptsn[aim_idx][0]; // + 0.2f * PIXPERMETER;
         float dn        = (dx * dx + dy * dy);
         float temp_near = 0;
-        if (barrier_type == BARRIER_LEFT_BEGIN) {
+
+        switch (barrier_type) {
+            case BARRIER_LEFT_BEGIN:
                 // dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;
-            pure_angle = -25.f;
-        }else if (barrier_type == BARRIER_LEFT_RUNNING)
-        {
+                pure_angle = -45.f;
+                break;
+            case BARRIER_LEFT_RUNNING:
                 pure_angle = 25.f;
-        }else if (barrier_type == BARRIER_RIGHT_BEGIN)
-        {
-            pure_angle = 25.f;
-        }
-         else if (barrier_type == BARRIER_RIGHT_RUNNING) {
+                break;
+            case BARRIER_RIGHT_BEGIN:
+                pure_angle = 45.f;
+                break;
+            case BARRIER_RIGHT_RUNNING:
                 // dx_near    = mid_track[aim_idx_near][1] - cx - barrier_offset;
                 pure_angle = -25.f;
-        } else {
+            default:
                 // pure_angle  = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
                 if (dy > 0) {
                     pure_angle      = -atanf(dx / dy) / PI32 * 180.0f;
@@ -295,6 +297,28 @@ void MidLineTrack()
                 }
         }
 
+        // if (barrier_type == BARRIER_LEFT_BEGIN) {
+        //     // dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;
+        //     pure_angle = -25.f;
+        // } else if (barrier_type == BARRIER_LEFT_RUNNING) {
+        //     pure_angle = 25.f;
+        // } else if (barrier_type == BARRIER_RIGHT_BEGIN) {
+        //     pure_angle = 25.f;
+        // } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
+        //     // dx_near    = mid_track[aim_idx_near][1] - cx - barrier_offset;
+        //     pure_angle = -25.f;
+        // } else {
+        //     // pure_angle  = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
+        //     if (dy > 0) {
+        //         pure_angle      = -atanf(dx / dy) / PI32 * 180.0f;
+        //         last_pure_angle = pure_angle;
+        //         // last_pure_angle_half = pure_angle_half;
+        //     } else {
+        //         pure_angle = last_pure_angle;
+        //         // pure_angle_half = last_pure_angle_half;
+        //     }
+        // }
+
         // // 计算近锚点偏差值
         // dx_near = rptsn[aim_idx_near][1] - cx;
         // // float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER;
@@ -308,8 +332,7 @@ void MidLineTrack()
         timer_start(TIM_3);
     }
     if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END) {
-        if (circle_flag == 1)
-        {
+        if (circle_flag == 1) {
             state_type = CIRCLE_STATE;
         }
 
@@ -320,21 +343,15 @@ void MidLineTrack()
 
             circle_flag = 0;
         }
-        if (circle_flag == 0)
-        {
+        if (circle_flag == 0) {
             state_type = CIRCLE_RUNNING_STATE;
         }
-    
     }
 
-    if (circle_type == CIRCLE_NONE)
-    {
+    if (circle_type == CIRCLE_NONE) {
         circle_flag = 1;
     }
 
-    
-    
-
     if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
         state_type = BARRIER_STATE;
     }

app/main.c

@@ -73,7 +73,9 @@ int main(void)
             ElementRun();
             aim_distance_select();
             MidLineTrack();
-            //bt_printf("type= %d", (int)curvature);
+            // if (barrier_type) {
+            //     bt_printf("type= %d", barrier_type);
+            // }
         }
     }
 }