fix timer not stop bug

AccurateMotor.cpp

@@ -26,11 +26,19 @@ void AccurateMotorClass::TurnLeft(uint8_t degree)
 			{
 				DCMotor.Stop();
 				SetCarNotRunning();
+				MsTimer2::stop();
 			}
 		});
 	MsTimer2::start();
 }
 
+void AccurateMotorClass::ForceStop()
+{
+	DCMotor.Stop();
+	SetCarNotRunning();
+	MsTimer2::stop();
+}
+
 void AccurateMotorClass::TurnRight(uint8_t degree)
 {
 	if (car_running)
@@ -42,6 +50,7 @@ void AccurateMotorClass::TurnRight(uint8_t degree)
 			{
 				DCMotor.Stop();
 				SetCarNotRunning();
+				MsTimer2::stop();
 			}
 		});
 	MsTimer2::start();
@@ -58,6 +67,7 @@ void AccurateMotorClass::RunForward(uint8_t distence)
 			{
 				DCMotor.Stop();
 				SetCarNotRunning();
+				MsTimer2::stop();
 			}
 		});
 	MsTimer2::start();
@@ -85,6 +95,7 @@ void AccurateMotorClass::RunBackward(uint8_t distence)
 			{
 				DCMotor.Stop();
 				SetCarNotRunning();
+				MsTimer2::stop();
 			}
 		});
 	MsTimer2::start();

AccurateMotor.h

@@ -31,6 +31,7 @@ private:
 	void DelayUntilCarStop();
 
 public:
+	void ForceStop();
 	void TurnLeft(uint8_t degree);
 	void TurnRight(uint8_t degree);
 	void RunForward(uint8_t distence);

Handler.cpp

@@ -58,26 +58,31 @@ void Handler::MainCarRx_Handler(uint8_t* com)
 	switch (com[2])
 	{
 	case 0x01:                                         //停止
-		DCMotor.Stop();
+		//DCMotor.Stop();
+		AccurateMotor.ForceStop();
 		break;
 	case 0x02:                                        //前进
-		DCMotor.Go(com[3], (com[4] + (com[5] << 8)));
+		//DCMotor.Go(com[3], (com[4] + (com[5] << 8)));
+		AccurateMotor.RunForward((com[4] + (com[5] << 8)));
 		ZigBee_back[2] = 0x03;
 		break;
 	case 0x03:                                        //后退
-		DCMotor.Back(com[3], (com[4] + (com[5] << 8)));
+		//DCMotor.Back(com[3], (com[4] + (com[5] << 8)));
+		AccurateMotor.RunBackward((com[4] + (com[5] << 8)));
 		ZigBee_back[2] = 0x03;
 		break;
 	case 0x04:                                        //左转
-		DCMotor.TurnLeft(com[3]);
+		//DCMotor.TurnLeft(com[3]);
+		AccurateMotor.TurnLeft(com[3]);
 		ZigBee_back[2] = 0x02;
 		break;
 	case 0x05:                                        //右转
-		DCMotor.TurnRight(com[3]);
+		//DCMotor.TurnRight(com[3]);
+		AccurateMotor.TurnRight(com[3]);
 		ZigBee_back[2] = 0x02;
 		break;
 	case 0x06:                                        //循迹
-		DCMotor.CarTrack(com[3]);
+		//DCMotor.CarTrack(com[3]);
 		ZigBee_back[2] = 0x00;
 		break;
 	case 0x07:                                        //码盘清零