加入了坦克调速，每种坦克速度不同。驱动也不同

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.1
+    VERSION 1.2.3
     LANGUAGES C
 )
 

drivers/devicecontrol/car0103_control.c

@@ -2,194 +2,89 @@
 #include "gpio_init.h"
 #include "common.h"
 
-int modecount_car0103=0;
-
 void car0103_middle() {
     pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
 void mode_car0103_lift_flont(unsigned char gval) {
+	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 78);
-	} else if (gval <= 60) {
+	}
+	else if (gval <= 60) {
 		pwmWrite(PWM_PIN_SPEED, 79);
-	} else if (gval <= 65) {
+	}else if (gval <= 70) {
 		pwmWrite(PWM_PIN_SPEED, 80);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 81);
-	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 82);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 83);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 84);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 85);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 86);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 87);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 88);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 89);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 90);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 91);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 92);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 93);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 94);
-	} 
+	}else if(gval >70){
+		int flont_speed = 80+(gval-70)/10+b;
+		pwmWrite(PWM_PIN_SPEED, flont_speed);
+	}
 }
 
 void mode_car0103_lift_back(unsigned char gval) {
+	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 72);
 	} else if (gval <= 60) {
 		pwmWrite(PWM_PIN_SPEED, 71);
-	} else if (gval <= 65) {
+	}else if (gval <= 70) {
 		pwmWrite(PWM_PIN_SPEED, 70);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 69);
-	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 68);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 67);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 66);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 65);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 64);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 63);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 62);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 61);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 60);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 59);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 58);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 57);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 56);
-	}    
+	} else if(gval >70){
+		int back_speed = 70 - (gval-70)/10-b;
+		pwmWrite(PWM_PIN_SPEED, back_speed);
+	}  
 }
 
 void mode_car0103_right_flont(unsigned char gval) {
+  	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_CHANGE, 78);
-	} else if (gval <= 60) {
+	}else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 79);
-	} else if (gval <= 65) {
+	}else if (gval <= 70) {
 		pwmWrite(PWM_PIN_CHANGE, 80);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 81);
-	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_CHANGE, 82);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_CHANGE, 83);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_CHANGE, 84);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_CHANGE, 85);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_CHANGE, 86);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_CHANGE, 87);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_CHANGE, 88);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_CHANGE, 89);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_CHANGE, 90);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_CHANGE, 91);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_CHANGE, 92);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_CHANGE, 93);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_CHANGE, 94);
-	} 
+	}else if(gval >70){
+		int flont_speed = 80+(gval-70)/10+b;
+		pwmWrite(PWM_PIN_CHANGE, flont_speed);
+	}
 }
 
 void mode_car0103_right_back(unsigned char gval) {
+	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
-	} else if (gval <= 55) {
+	}else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 71);
-	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 70);
-	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_CHANGE, 70);
 	} else if (gval <= 70) {
 		pwmWrite(PWM_PIN_CHANGE, 70);
-	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_CHANGE, 69);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_CHANGE, 68);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_CHANGE, 68);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_CHANGE, 66);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_CHANGE, 65);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_CHANGE, 64);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_CHANGE, 62);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_CHANGE, 60);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_CHANGE, 59);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_CHANGE, 58);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_CHANGE, 57);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_CHANGE, 56);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_CHANGE, 55);
-	}    
+	} else if(gval >70){
+		int back_speed = 70 - (gval-70)/10-b;
+		pwmWrite(PWM_PIN_CHANGE, back_speed);
+	}   
 }
 
 void   car0103_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
+	static int modecount_car0103=0;
     if(mode == 1 ) {
         //mode_lift_flont(val);
-        mode_car0103_right_back(val);
+		mode_car0103_right_flont(val);
 		modecount_car0103=0;
     }else if(mode == 2 ) {
         //mode_lift_back(val);
-        mode_car0103_right_flont(val);
+        mode_car0103_right_back(val);
 		modecount_car0103=1;
     }
 	
 	if((mode == 1||mode ==2)&&val == 0) modecount_car0103=0;
 
 	if(mode == 3) {
-        if(modecount_car0103 == 0) mode_car0103_lift_back(val+25);
-        if(modecount_car0103 == 1) mode_car0103_lift_flont(val+25);
+        if(modecount_car0103 == 0) mode_car0103_lift_back(val);
+        if(modecount_car0103 == 1) mode_car0103_lift_flont(val);
     }else if(mode == 4) {
-        if(modecount_car0103 == 0) mode_car0103_lift_flont(val+25);
-        if(modecount_car0103 == 1) mode_car0103_lift_back(val+25);
+        if(modecount_car0103 == 0) mode_car0103_lift_flont(val);
+        if(modecount_car0103 == 1) mode_car0103_lift_back(val);
     }
-    
 }
\ No newline at end of file

drivers/devicecontrol/car0104_control.c

@@ -9,30 +9,34 @@ void car0104_stop() {
 }
 
 void car0104_back(unsigned char gval) {
-	int b=0;
+	int b=7;
+	int c=2;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	}
 	else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 85);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 80);
+		pwmWrite(PWM_PIN_SPEED, 87);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
+		if(flont_speed>95) flont_speed = 95;
 		pwmWrite(PWM_PIN_SPEED, flont_speed);
 	}
 }
 
 void car0104_flont(unsigned char gval) {
-	int b=0;
+	int b=7;
+	int c=2;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 65);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 70);
+		pwmWrite(PWM_PIN_SPEED, 63);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
+		if(back_speed<55) back_speed =55;
 		pwmWrite(PWM_PIN_SPEED, back_speed);
 	}    
 }
@@ -122,14 +126,14 @@ void  car0104_change(unsigned char *buf) {
     unsigned char val = buf[2];
 	
     if(mode == 1 ) {
-        car0104_flont(val+20);
+        car0104_flont(val);
     }else if(mode == 2 ) {
-        car0104_back(val+20);
+        car0104_back(val);
     }else if(mode == 3) {
-		if(val !=0)car0104_lift(90);
+		if(val !=0) car0104_lift(85);
 		else car0104_lift(0);
     }else if(mode == 4) {
-		if(val !=0) car0104_right(90);  
+		if(val !=0) car0104_right(85);  
 		else  car0104_lift(0);
     }
     

drivers/devicecontrol/tank0202_control.c

@@ -186,11 +186,11 @@ void   tank0202_change(unsigned char *buf) {
 	if((mode == 1||mode ==2)&&val == 0) g_modecount_tank0202=0;
 
 	if(mode == 3) {
-        if(g_modecount_tank0202 == 0) mode_lift_back(val+20);
-        if(g_modecount_tank0202 == 1) mode_lift_flont(val+20);
+        if(g_modecount_tank0202 == 0) mode_lift_back(val+15);
+        if(g_modecount_tank0202 == 1) mode_lift_flont(val+15);
     }else if(mode == 4) {
-        if(g_modecount_tank0202 == 0) mode_lift_flont(val+20);
-        if(g_modecount_tank0202 == 1) mode_lift_back(val+20);
+        if(g_modecount_tank0202 == 0) mode_lift_flont(val+15);
+        if(g_modecount_tank0202 == 1) mode_lift_back(val+15);
     }
     
 }

drivers/devicecontrol/tank0203_control.c

@@ -23,6 +23,7 @@ void tank0203_mode_lift_flont(unsigned char gval) {
 		pwmWrite(PWM_PIN_SPEED, 80);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
+		if(flont_speed>95) flont_speed = 95;
 		pwmWrite(PWM_PIN_SPEED, flont_speed);
 	}
 }
@@ -37,6 +38,7 @@ void tank0203_mode_lift_back(unsigned char gval) {
 		pwmWrite(PWM_PIN_SPEED, 70);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
+		if(back_speed<55) back_speed =55;
 		pwmWrite(PWM_PIN_SPEED, back_speed);
 	}  
 }
@@ -51,6 +53,7 @@ void tank0203_mode_right_back(unsigned char gval) {
 		pwmWrite(PWM_PIN_CHANGE, 80);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
+		if(flont_speed>95) flont_speed = 95;
 		pwmWrite(PWM_PIN_CHANGE, flont_speed);
 	}
 }
@@ -65,6 +68,7 @@ void tank0203_mode_right_flont(unsigned char gval) {
 		pwmWrite(PWM_PIN_CHANGE, 70);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
+		if(back_speed<55) back_speed =55;
 		pwmWrite(PWM_PIN_CHANGE, back_speed);
 	}
 }

drivers/devicecontrol/tank0206_control.c

@@ -9,163 +9,68 @@ void tank0206_middle() {
 }
 
 void tank0206_mode_lift_flont(unsigned char gval) {
+	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 76);
-	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 77);
-	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 78);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 79);
-	} else if (gval <= 75) {
+	}
+	else if (gval <= 55) {
 		pwmWrite(PWM_PIN_SPEED, 80);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 81);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 82);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 83);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 84);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 85);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 86);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 87);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 88);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 89);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 90);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 91);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 94);
-	} 
+	}else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 79);
+	}else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 79);
+	}else if(gval >100){
+		int flont_speed = 79+(gval-70)/10+b;
+		if(flont_speed>95) flont_speed = 95;
+		pwmWrite(PWM_PIN_SPEED, flont_speed);
+	}
 }
 
 void tank0206_mode_lift_back(unsigned char gval) {
+	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 74);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 73);
-	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 72);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 71);
-	} else if (gval <= 75) {
 		pwmWrite(PWM_PIN_SPEED, 70);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 69);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 68);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 67);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 66);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 65);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 64);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 63);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 62);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 61);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 60);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 59);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 56);
-	}    
+	}else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 71);
+	}else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 71);
+	} else if(gval >100){
+		int back_speed = 71 - (gval-70)/10-b;
+		if(back_speed<55) back_speed =55;
+		pwmWrite(PWM_PIN_SPEED, back_speed);
+	}  
 }
 
 void tank0206_mode_right_flont(unsigned char gval) {
+	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_CHANGE, 76);
-	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 77);
-	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_CHANGE, 78);
-	} else if (gval <= 70) {
+	}else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 79);
-	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_CHANGE, 80);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_CHANGE, 81);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_CHANGE, 82);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_CHANGE, 83);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_CHANGE, 84);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_CHANGE, 85);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_CHANGE, 86);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_CHANGE, 87);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_CHANGE, 88);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_CHANGE, 89);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_CHANGE, 90);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_CHANGE, 91);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_CHANGE, 94);
-	} 
+	}else if (gval <= 100) {
+		pwmWrite(PWM_PIN_CHANGE, 79);
+	}else if(gval >100){
+		int flont_speed = 80+(gval-70)/10+b;
+		if(flont_speed>95) flont_speed = 95;
+		pwmWrite(PWM_PIN_CHANGE, flont_speed);
+	}
 }
 
 void tank0206_mode_right_back(unsigned char gval) {
+	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_CHANGE, 74);
-	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 73);
-	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_CHANGE, 72);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 71);
-	} else if (gval <= 75) {
+	}else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 70);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_CHANGE, 69);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_CHANGE, 68);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_CHANGE, 67);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_CHANGE, 66);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_CHANGE, 65);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_CHANGE, 64);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_CHANGE, 63);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_CHANGE, 62);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_CHANGE, 61);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_CHANGE, 60);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_CHANGE, 59);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_CHANGE, 55);
-	}    
+		pwmWrite(PWM_PIN_CHANGE, 71);
+	} else if(gval >100){
+		int back_speed = 70 - (gval-70)/10-b;
+		if(back_speed<55) back_speed =55;
+		pwmWrite(PWM_PIN_CHANGE, back_speed);
+	}
 }
 
 void   tank0206_change(unsigned char *buf) {
@@ -186,12 +91,12 @@ void   tank0206_change(unsigned char *buf) {
 	if((mode == 1||mode ==2)&&val == 0) modecount_tank0206=0;
 
 	if(mode == 3) {
-		if(modecount_tank0206 == 0) tank0206_mode_lift_flont(val+10);
-        if(modecount_tank0206 == 1) tank0206_mode_lift_back(val+10);
+		if(modecount_tank0206 == 0) tank0206_mode_lift_flont(val);
+        if(modecount_tank0206 == 1) tank0206_mode_lift_back(val);
 
     }else if(mode == 4) {
-        if(modecount_tank0206 == 0) tank0206_mode_lift_back(val+10);
-        if(modecount_tank0206 == 1) tank0206_mode_lift_flont(val+10);
+        if(modecount_tank0206 == 0) tank0206_mode_lift_back(val);
+        if(modecount_tank0206 == 1) tank0206_mode_lift_flont(val);
     }
     
 }

drivers/gpio/gpio_control.c

@@ -191,9 +191,9 @@ void tank0202_pwm_value(int pin,int value) {	//软件陪我们控制调速
     
     if(value==1) {
 		if(pin == 27){
-            softPwmWrite(pin, 50);
+            softPwmWrite(pin, 45);
         } else {
-            softPwmWrite(pin, 30);
+            softPwmWrite(pin, 40);
             my_zlog_debug("pwm:%d",pin);
         }
         
@@ -218,7 +218,7 @@ void tank0203_pwm_value(int pin,int value) {	//软件陪我们控制调速
 		if(pin == 27){
             softPwmWrite(pin, 45);
         } else {
-            softPwmWrite(pin, 30);
+            softPwmWrite(pin, 35);
             my_zlog_debug("pwm:%d",pin);
         }
         
@@ -241,7 +241,7 @@ void tank0206_pwm_value(int pin,int value) {	//软件陪我们控制调速
     
     if(value==1) {
 		if(pin == 27){
-            softPwmWrite(pin, 45);
+            softPwmWrite(pin, 50);
         } else {
             softPwmWrite(pin, 35);
             my_zlog_debug("pwm:%d",pin);

drivers/sensors/tank_angle.c

@@ -2,10 +2,6 @@
 #include "common.h"
 #include "ads1115.h"
 
-#define LIFT_LIMIT 170
-#define MIDDLE_LIMIT 180
-#define RIGHT_LIMIT 205
-
 double tank_angle(){
     double angle=0;
     float angle_shot=ads1115_read_channel(2);
@@ -20,8 +16,11 @@ double tank_angle(){
 
 
 int angle_limit(){
-	int tank_limit_angele = tank_angle();
-	if(tank_limit_angele >=LIFT_LIMIT && tank_limit_angele<=MIDDLE_LIMIT) return 1;
-    else if(tank_limit_angele >=MIDDLE_LIMIT && tank_limit_angele<=RIGHT_LIMIT) return 2;
-	return 0;	
+    if(ANGLE_LIMIT_INDEX == 1 ){
+        int tank_limit_angele = tank_angle();
+        if(tank_limit_angele >=LIFT_LIMIT && tank_limit_angele<=MIDDLE_LIMIT) return 1;
+        else if(tank_limit_angele >=MIDDLE_LIMIT && tank_limit_angele<=RIGHT_LIMIT) return 2;
+        return 0;
+    }else return 0;
+	
 }
\ No newline at end of file

drivers/sensors/tank_angle.h

 #ifndef TANK_ANGLE_H
 #define TANK_ANGLE_H
 
+#define LIFT_LIMIT 160
+#define MIDDLE_LIMIT 180
+#define RIGHT_LIMIT 210
+
+#define ANGLE_LIMIT_INDEX 1 //是否开启角度旋转
+
 double tank_angle();
 
 int angle_limit();