From 8aae0c27547250fb0c7b01cff53cd5f70fb3cd8a Mon Sep 17 00:00:00 2001 From: UnknownObject Date: Thu, 15 Jun 2023 10:07:02 +0800 Subject: [PATCH] commit all --- 2021_Arduino_Demo.vcxproj | 2 +- AccurateMotor.h | 2 +- OpenMVOpt.cpp | 66 ++++++++++++++++++++++++--------------- __vm/Compile.vmps.xml | 2 +- __vm/Upload.vmps.xml | 2 +- 5 files changed, 44 insertions(+), 30 deletions(-) diff --git a/2021_Arduino_Demo.vcxproj b/2021_Arduino_Demo.vcxproj index b61f874..d287c92 100644 --- a/2021_Arduino_Demo.vcxproj +++ b/2021_Arduino_Demo.vcxproj @@ -76,7 +76,7 @@ __AVR_atmega2560__;__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions) stdcpp17 stdc11 - 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+ 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true diff --git a/AccurateMotor.h b/AccurateMotor.h index d92f2fc..8508c1d 100644 --- a/AccurateMotor.h +++ b/AccurateMotor.h @@ -21,7 +21,7 @@ private: bool car_running; const uint8_t car_speed = 50; const uint8_t car_turn_speed = 100; - const uint8_t turn_multplyer = 8; + const uint8_t turn_multplyer = 7; const uint8_t run_multplyer = 100; private: diff --git a/OpenMVOpt.cpp b/OpenMVOpt.cpp index 08baa2f..1f3d605 100644 --- a/OpenMVOpt.cpp +++ b/OpenMVOpt.cpp @@ -51,42 +51,56 @@ void OpenMVOpt::AdjustCarPosition(uint8_t Car_Speed) DCMotor.SpeedCtr(50, 5); } } - else if (Data_OpenMVBuf[6] <= 50) + else { - + AccurateMotor.ForceStop(); if (Data_OpenMVBuf[5] == 43) // + 向左调 { - DCMotor.SpeedCtr(0, 40); + AccurateMotor.TurnLeft(Data_OpenMVBuf[6] / 6); } else if (Data_OpenMVBuf[5] == 45) // - 向右调 { - DCMotor.SpeedCtr(40, 0); + AccurateMotor.TurnRight(Data_OpenMVBuf[6] / 6); } + AccurateMotor.DelayUntilCarStop(); + DCMotor.SpeedCtr(Car_Speed, Car_Speed); } - else if (Data_OpenMVBuf[6] <= 70) - { + //else if (Data_OpenMVBuf[6] <= 50) + //{ - if (Data_OpenMVBuf[5] == 43) // + 向左调 - { - DCMotor.SpeedCtr(-20, 40); - } - else if (Data_OpenMVBuf[5] == 45) // - 向右调 - { - DCMotor.SpeedCtr(40, -20); - } - } - else if (Data_OpenMVBuf[6] > 70) - { + // if (Data_OpenMVBuf[5] == 43) // + 向左调 + // { + // DCMotor.SpeedCtr(0, 40); + // } + // else if (Data_OpenMVBuf[5] == 45) // - 向右调 + // { + // DCMotor.SpeedCtr(40, 0); + // } + //} + //else if (Data_OpenMVBuf[6] <= 70) + //{ - if (Data_OpenMVBuf[5] == 43) // + 向左调 - { - DCMotor.SpeedCtr(-30, 30); - } - else if (Data_OpenMVBuf[5] == 45) // - 向右调 - { - DCMotor.SpeedCtr(30, -30); - } - } + // if (Data_OpenMVBuf[5] == 43) // + 向左调 + // { + // DCMotor.SpeedCtr(-20, 40); + // } + // else if (Data_OpenMVBuf[5] == 45) // - 向右调 + // { + // DCMotor.SpeedCtr(40, -20); + // } + //} + //else if (Data_OpenMVBuf[6] > 70) + //{ + + // if (Data_OpenMVBuf[5] == 43) // + 向左调 + // { + // DCMotor.SpeedCtr(-30, 30); + // } + // else if (Data_OpenMVBuf[5] == 45) // - 向右调 + // { + // DCMotor.SpeedCtr(30, -30); + // } + //} } OpenMVOpt::ImageROIData OpenMVOpt::GetROIData() diff --git a/__vm/Compile.vmps.xml b/__vm/Compile.vmps.xml index e6ef9f4..5c28bc0 100644 --- a/__vm/Compile.vmps.xml +++ b/__vm/Compile.vmps.xml @@ -2,7 +2,7 @@ - + diff --git a/__vm/Upload.vmps.xml b/__vm/Upload.vmps.xml index e6ef9f4..5c28bc0 100644 --- a/__vm/Upload.vmps.xml +++ b/__vm/Upload.vmps.xml @@ -2,7 +2,7 @@ - +