优化了大车和小车

drivers/devicecontrol/car0101_control.c

@@ -10,7 +10,7 @@ void car_calculate_L_R(int angle) {
     } else if (angle > 180) {
         angle = 180;
     }
-	float pulse_width=(2 / 180.0) * angle + 0.5;
+	float pulse_width=( angle / 180.0) *2 + 0.5;
 	// 周期（ms）
     float period = 1000.0 / 50;
 	int val = (int)((pulse_width / period) * 1000);
@@ -23,140 +23,57 @@ void car0101_middle_pwm() {//车停止pwm值
 	car_calculate_L_R(90);
 }
 
-
 /*车的速度转向函数*/
 void car0101_mode_1_flont(unsigned char gval) {
+   	int a=0,b=1;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
-	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 71);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 70);
-	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 70);
-	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 70);
-	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 69);
-	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 68);
-	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 68);
-	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 66);
-	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 65);
-	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 64);
-	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 62);
-	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 60);
-	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 59);
-	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 58);
-	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 57);
-	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 56);
-	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 55);
-	}    
+		pwmWrite(PWM_PIN_SPEED, 71-b+a);
+	}else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 70-b+a);
+	} else if(gval >70){
+		int back_speed = 70 - (gval-70)/10-b+a;
+		pwmWrite(PWM_PIN_SPEED, back_speed);
+	}  
 }
 
 void car0101_mode_2_back(unsigned char gval) {
-   	if(gval<50) {
-		pwmWrite(PWM_PIN_SPEED,75);
-	}else if(50<=gval&&gval<=55) {
-		pwmWrite(PWM_PIN_SPEED,76);
-	}else if(55<gval&&gval<=60) {
-		pwmWrite(PWM_PIN_SPEED,77);
-	}else if(60<gval&&gval<=65) {
-		pwmWrite(PWM_PIN_SPEED,77);
-	}else if(65<gval&&gval<=70) {
-		pwmWrite(PWM_PIN_SPEED,78);
-	}else if(70<gval&&gval<=75) {
-		pwmWrite(PWM_PIN_SPEED,78);
-	}else if(75<gval&&gval<=90) {
-		pwmWrite(PWM_PIN_SPEED,79);
-	}else if(90<gval&&gval<=100) {
-		pwmWrite(PWM_PIN_SPEED,80);  
-	}else if(110<gval&&gval<=120) {
-		pwmWrite(PWM_PIN_SPEED,81); 
-	}else if(120<gval&&gval<=130) {
-		pwmWrite(PWM_PIN_SPEED,82); 
-	}else if(130<gval&&gval<=140) {
-		pwmWrite(PWM_PIN_SPEED,83); 
-	}else if(140<gval&&gval<=150) {
-		pwmWrite(PWM_PIN_SPEED,84); 
-	}else if(150<gval&&gval<=160) {
-		pwmWrite(PWM_PIN_SPEED,85); 
-	}else if(160<gval&&gval<=170) {
-		pwmWrite(PWM_PIN_SPEED,86); 
-	}else if(170<gval&&gval<=180) {
-		pwmWrite(PWM_PIN_SPEED,87); 
-	}else if(180<gval&&gval<=190) {
-		pwmWrite(PWM_PIN_SPEED,88); 
-	}else if(190<gval&&gval<=200) {
-		pwmWrite(PWM_PIN_SPEED,89); 
+	int b=0,a=1;
+   if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 75);
+	}
+	else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 79+b-a);
+	}else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 80+b-a);
+	}else if(gval >70){
+		int flont_speed = 80+(gval-70)/10+b-a;
+		pwmWrite(PWM_PIN_SPEED, flont_speed);
 	}
 }
 
+
 void car0101_mode_3_left(unsigned char gval) {
-	if (gval < 45) {
+	int b=10;
+	if(gval<45){
 		car_calculate_L_R(90);
-	} else if (gval <= 51) {
-		car_calculate_L_R(110);
-	} else if (gval <= 57) {
-		car_calculate_L_R(120);
-	} else if (gval <= 63) {
-		car_calculate_L_R(130);
-	} else if (gval <= 69) {
-		car_calculate_L_R(130);
-	} else if (gval <= 75) {
-		car_calculate_L_R(140);
-	} else if (gval <= 81) {
-		car_calculate_L_R(145);
-	} else if (gval <= 87) {
-		car_calculate_L_R(150);
-	} else if (gval <= 93) {
-		car_calculate_L_R(150);
-	} else if (gval <= 100) {
-		car_calculate_L_R(160);
-	}else if (gval <= 107) {
-		car_calculate_L_R(170);
-	}else if (gval <= 120) {
-		car_calculate_L_R(180);
+	}else if(gval<70){
+		car_calculate_L_R(50+gval+b);
+	}else if(gval>=70){
+		car_calculate_L_R(35);
 	}		
 }
 
 void car0101_mode_4_right(unsigned char gval) {
-	if (gval < 45) {
+	int b=20;
+	if(gval<45){
 		car_calculate_L_R(90);
-	} else if (gval <= 51) {
-		car_calculate_L_R(70);
-	} else if (gval <= 57) {
-		car_calculate_L_R(66);
-	} else if (gval <= 63) {
-		car_calculate_L_R(62);
-	} else if (gval <= 69) {
-		car_calculate_L_R(55);
-	} else if (gval <= 75) {
-		car_calculate_L_R(45);
-	} else if (gval <= 81) {
-		car_calculate_L_R(40);
-	} else if (gval <= 87) {
-		car_calculate_L_R(30);
-	} else if (gval <= 93) {
-		car_calculate_L_R(30);
-	} else if (gval <= 100) {
-		car_calculate_L_R(20);
-	} else if (gval <= 107) {
-		car_calculate_L_R(10);
-	} else if (gval <= 120) {
-		car_calculate_L_R(0);
-	}         
+	}else if(gval<70){
+		car_calculate_L_R(130-gval-b);
+	}else if(gval>=70){
+		car_calculate_L_R(135);
+	}  
 }
 
 void car0101_control_change(unsigned char *buf) {//车速度和转向引脚数值处理函数

drivers/devicecontrol/car0102_control.c

@@ -117,69 +117,19 @@ void car0102_mode_3_left(unsigned char gval) {
 		car0102_calculate_L_R(50+gval+b);
 	}else if(gval>=70){
 		car0102_calculate_L_R(135);
-	}
-	// if (gval < 45) {
-	// 	car0102_calculate_L_R(90);
-	// } else if (gval <= 51) {
-	// 	car0102_calculate_L_R(110);
-	// } else if (gval <= 57) {
-	// 	car0102_calculate_L_R(120);
-	// } else if (gval <= 63) {
-	// 	car0102_calculate_L_R(130);
-	// } else if (gval <= 69) {
-	// 	car0102_calculate_L_R(135);
-	// } else if (gval <= 75) {
-	// 	car0102_calculate_L_R(140);
-	// } else if (gval <= 81) {
-	// 	car0102_calculate_L_R(145);
-	// } else if (gval <= 87) {
-	// 	car0102_calculate_L_R(150);
-	// } else if (gval <= 93) {
-	// 	car0102_calculate_L_R(150);
-	// } else if (gval <= 100) {
-	// 	car0102_calculate_L_R(160);
-	// }else if (gval <= 107) {
-	// 	car0102_calculate_L_R(170);
-	// }else if (gval <= 120) {
-	// 	car0102_calculate_L_R(180);
-	// }	
+	}	
 }
 
 void car0102_mode_4_right(unsigned char gval) {
-	int b=5;
+	int b=7;
 	if(gval<45){
 		car0102_calculate_L_R(90);
 	}else if(gval<70){
 		car0102_calculate_L_R(130-gval-b);
 	}else if(gval>=70){
-		car0102_calculate_L_R(135);
+		car0102_calculate_L_R(45);
 	}
-	
-	// if (gval < 45) {
-	// 	car0102_calculate_L_R(90);
-	// } else if (gval <= 51) {
-	// 	car0102_calculate_L_R(70);
-	// } else if (gval <= 57) {
-	// 	car0102_calculate_L_R(66);
-	// } else if (gval <= 63) {
-	// 	car0102_calculate_L_R(62);
-	// } else if (gval <= 69) {
-	// 	car0102_calculate_L_R(55);
-	// } else if (gval <= 75) {
-	// 	car0102_calculate_L_R(45 );
-	// } else if (gval <= 81) {
-	// 	car0102_calculate_L_R(40);
-	// } else if (gval <= 87) {
-	// 	car0102_calculate_L_R(30);
-	// } else if (gval <= 93) {
-	// 	car0102_calculate_L_R(30);
-	// } else if (gval <= 100) {
-	// 	car0102_calculate_L_R(20);
-	// } else if (gval <= 107) {
-	// 	car0102_calculate_L_R(10);
-	// } else if (gval <= 120) {
-	// 	car0102_calculate_L_R(0);
-	// }         
+	      
 }
 
 //车速度和转向引脚数值处理函数

drivers/devicecontrol/tank0207_control.c

@@ -16,9 +16,9 @@ void tank0207_mode_lift_flont(unsigned char gval) {
 	else if (gval <= 60) {
 		pwmWrite(PWM_PIN_SPEED, 80);
 	}else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 81);
 	}else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 81);
 	}else if(gval >100){
 		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
@@ -33,9 +33,9 @@ void tank0207_mode_lift_back(unsigned char gval) {
 	} else if (gval <= 60) {
 		pwmWrite(PWM_PIN_SPEED, 70);
 	}else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 69);
 	}else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 69);
 	} else if(gval >100){
 		int back_speed = 71 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
@@ -52,9 +52,9 @@ void tank0207_mode_right_flont(unsigned char gval) {
 	else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 80);
 	}else if (gval <= 90) {
-		pwmWrite(PWM_PIN_CHANGE, 79);
+		pwmWrite(PWM_PIN_CHANGE, 69);
 	}else if (gval <= 100) {
-		pwmWrite(PWM_PIN_CHANGE, 79);
+		pwmWrite(PWM_PIN_CHANGE, 69);
 	}else if(gval >100){
 		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
@@ -162,15 +162,15 @@ void  tank0207_change(unsigned char *buf) {
 	}
 	else if(tank0207_front_t ==1&&tank0207_steering_t==1){
 		tank0207_mode_lift_flont(0);
-        tank0207_mode_right_flont(tank0207_steering_val+tank0206_count);
+        tank0207_mode_right_flont(tank0207_front_val);
 	}else if(tank0207_front_t ==1&&tank0207_steering_t==2){
-		tank0207_mode_lift_flont(tank0207_steering_val+tank0206_count);
+		tank0207_mode_lift_flont(tank0207_front_val);
         tank0207_mode_right_flont(0);
 	}else if(tank0207_front_t ==2&&tank0207_steering_t==1){
 		tank0207_mode_lift_back(0);
-        tank0207_mode_right_back(tank0207_steering_val+tank0206_count);
+        tank0207_mode_right_back(tank0207_front_val);
 	}else if(tank0207_front_t ==2&&tank0207_steering_t==2){
-		tank0207_mode_lift_back(tank0207_steering_val+tank0206_count);
+		tank0207_mode_lift_back(tank0207_front_val);
         tank0207_mode_right_back(0);
 	}
     

drivers/gpio/gpio_control.c

@@ -580,7 +580,7 @@ void tank0204_pwm_value(int pin,int value){
           //device_shoting_check(27,100);
            if(getshot_detection_index()==true){
             softPwmWrite(27, 100);
-            setshot_detection_index(true);
+            setshot_detection_index(false);
             tankshot_detection_backcount(NULL,3);
             set_backshotstatus(true);
             my_zlog_info("冷却完成，射击开始");
@@ -594,7 +594,7 @@ void tank0204_pwm_value(int pin,int value){
             my_zlog_info("pwm:5,1");
         }else {
             if(pin==26&&get_backshotstatus()!=true) {
-                devicegpio_pwmreuse(pin,value,100);
+                devicegpio_pwmreuse(pin,value,60);
                 softPwmWrite(pin, 60);
             }
             if(pin!=26)softPwmWrite(pin, 60);
@@ -621,7 +621,7 @@ void tank0204_pwm_value(int pin,int value){
         }else{
             if(pin!=27) {
                 if(pin==26&&get_backshotstatus()!=true){
-                     softPwmWrite(pin, 0);
+                    softPwmWrite(pin, 0);
                     devicegpio_pwmreuse(pin,value,0);
                 }
             if(pin!=26)softPwmWrite(pin, 0);