From 2cb63340687ae2ada98c545227ffb247f48f3a9a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 11 五月 2023 11:05:41 +0800
Subject: [PATCH] V1.9
---
源码/核心板/Src/application/dw_app.c | 20 +++++++++++++-------
1 files changed, 13 insertions(+), 7 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index 21d2483..877e596 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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;
--
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