From 8aa49449ae60d1232c9d029e5b8b0ada2ae6346c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 22 三月 2023 16:45:54 +0800
Subject: [PATCH] 增加防撞标签逻辑
---
Src/application/dw_app.c | 11 +++--------
1 files changed, 3 insertions(+), 8 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 757921b..b0eb720 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -825,12 +825,7 @@
recbase_num=0;
// motor_state=0;
- if(motor_state!=0&&motor_state!=3)
- {
- motor_flag = 1;
- }else{
- motor_flag = 0;
- }
+
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
@@ -968,8 +963,7 @@
mainbase_dist=temp_dist;
nearbase_distlist[0] = temp_dist;
base_mindist = temp_dist;
- if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
- motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+
if(frame_len==28)
{
memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
@@ -1300,6 +1294,7 @@
// Poll();
break;
}
+ FZNearPoll();
userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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