V1.9

yincheng.zhong

2023-05-11 2cb63340687ae2ada98c545227ffb247f48f3a9a

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -868,7 +868,7 @@
uint16_t samegroup_ancid,anc_mount_dist;
uint8_t getvaluetimes = 0;
uint16_t first_dist,second_dist,delta_dist;
int16_t tag_angle[TAG_NUM_IN_SYS];
int16_t tag_angle[TAG_NUM_IN_SYS],tag_dist[TAG_NUM_IN_SYS];
float p_dist;
void AngleCalculate(void)
{
@@ -903,7 +903,13 @@
        {
            p_dist = -1;
        }
       tag_angle[taglist_pos] = -asin(p_dist)*57.3; 
        tag_dist[taglist_pos] = second_dist;
        tag_angle[taglist_pos]  = asin(p_dist)*57.3; 
        OUT485_ENABLE;
      delay_us(10);
        printf("角度：%d,距离差：%d,距离1：%d,距离2:%d......\r\n",tag_angle[taglist_pos],first_dist-second_dist,first_dist,second_dist);
      delay_us(10);
        OUT485_DISABLE;
    }
}
extern int16_t alarm_angle;
@@ -933,19 +939,19 @@
         }
         motorstate =0;
      
            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]==0)
            if(g_Tagdist[taglist_pos]<g_com_map[ALARM_DISTANCE1]||g_Tagdist[taglist_pos]==0)
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         }else if(g_Tagdist[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            if(flag_tag_distsmooth[taglist_pos]&&tag_angle[taglist_pos]>alarm_angle)
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =2;
            }else{
               motorstate =0;
            }
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         }else if(g_Tagdist[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            if(flag_tag_distsmooth[taglist_pos]&&tag_angle[taglist_pos]>alarm_angle)
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =1;
               }else{
               motorstate =0;