Merge branch 'feature/add_ship_control' into 'master'

drivers/devicecontrol/ship0301_control.c

@@ -13,9 +13,9 @@ void ship0301_mode_lift_flont(unsigned char gval) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	}
 	else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 79+b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 80);
+		pwmWrite(PWM_PIN_SPEED, 80+b);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
@@ -28,9 +28,9 @@ void ship0301_mode_lift_back(unsigned char gval) {
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 71-b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 70);
+		pwmWrite(PWM_PIN_SPEED, 70-b);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
@@ -43,9 +43,9 @@ void ship0301_mode_right_back(unsigned char gval) {
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	}else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 79);
+		pwmWrite(PWM_PIN_CHANGE, 79+b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 80);
+		pwmWrite(PWM_PIN_CHANGE, 80+b);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
@@ -58,9 +58,9 @@ void ship0301_mode_right_flont(unsigned char gval) {
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	}else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 71);
+		pwmWrite(PWM_PIN_CHANGE, 71-b);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 70);
+		pwmWrite(PWM_PIN_CHANGE, 70-b);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
@@ -73,24 +73,38 @@ void  ship0301_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
 	static int modecount_ship0301;
+	static bool ship0301_steer_t=0;
     if(mode == 1 ) {
         //mode_lift_flont(val);
+		ship0301_mode_lift_flont(val);
         ship0301_mode_right_flont(val);
 		modecount_ship0301=0;
+		ship0301_steer_t=1;
     }else if(mode == 2 ) {
         //mode_lift_back(val);
+		ship0301_mode_lift_flont(val);
         ship0301_mode_right_back(val);
 		modecount_ship0301=1;
+		ship0301_steer_t=1;
     }
 	
-	if((mode == 1||mode ==2)&&val == 0) modecount_ship0301=0;
+	if((mode == 1||mode ==2)&&val == 0) {
+		modecount_ship0301=0;
+		ship0301_steer_t=0;
+	}
 
 	if(mode == 3) {
-        if(modecount_ship0301 == 0) ship0301_mode_lift_back(val+15);
-        if(modecount_ship0301 == 1) ship0301_mode_lift_flont(val+15);
+        if(modecount_ship0301 == 0) {
+			if(ship0301_steer_t==0)ship0301_mode_right_flont(val+35);
+			ship0301_mode_lift_flont(0);
+		}
+        if(modecount_ship0301 == 1) ship0301_mode_right_back(0);
     }else if(mode == 4) {
-        if(modecount_ship0301 == 0) ship0301_mode_lift_flont(val+15);
-        if(modecount_ship0301 == 1) ship0301_mode_lift_back(val+15);
+        if(modecount_ship0301 == 0) {
+			if(ship0301_steer_t==0)ship0301_mode_lift_flont(val+35);
+			ship0301_mode_right_flont(0);
+		}
+        if(modecount_ship0301 == 1) ship0301_mode_lift_back(0);
     }
     
 }
\ No newline at end of file

drivers/devicecontrol/tank_common.c

@@ -46,23 +46,23 @@ void tank_shot_back(unsigned char gval) {
 const tank_common_back tank_common_config_t[]={
     {
         .device_id = DEVICE_TANK0202,
-        .back_time=15,//后退多少ms
-        .back_interval_back=200, //间隔多少ms才能再次使用
+        .back_time=25,//后退多少ms
+        .back_interval_back=300, //间隔多少ms才能再次使用
         .shot_back_speed=80,
         .shot_back=tank_shot_back_stop
         
     },
     {
         .device_id = DEVICE_TANK0203,
-        .back_time=15,//后退多少ms
-        .back_interval_back=200, //间隔多少ms才能再次使用
+        .back_time=25,//后退多少ms
+        .back_interval_back=300, //间隔多少ms才能再次使用
         .shot_back_speed=80,
         .shot_back=tank_shot_back_stop
     },
 	{
         .device_id = DEVICE_TANK0204,
-        .back_time=15,//后退多少ms
-        .back_interval_back=200, //间隔多少ms才能再次使用
+        .back_time=25,//后退多少ms
+        .back_interval_back=300, //间隔多少ms才能再次使用
         .shot_back_speed=80,
         .shot_back=tank_shot_back_stop
     },

modules/browser/browser_open.h

 #ifndef BROWSER_OPEN_H__
 #define BROWSER_OPEN_H__ 
 
-/*打开摄像头函数,当MODE为1时候为国内网址，2时为泰国网址*/
+/*打开摄像头函数,当MODE为1时候为国内网址，2时为泰国网址,3为中东网址*/
 #define BROWSER_MODE 1
 
 int  opencamsh();