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Commit 82901a6b authored by 957dd's avatar 957dd
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Merge branch 'feature/minicar' into 'master'

加入了小车控制 See merge request !26
parents 4cea9b74 8108af60
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/home/orangepi/car/master/system/gpio/gpio_pwm_car0102.h \
/home/orangepi/car/master/include/common.h /usr/include/stdio.h \
/usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
/usr/include/features.h /usr/include/features-time64.h \
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/usr/include/aarch64-linux-gnu/bits/types/FILE.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
/usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
/usr/include/aarch64-linux-gnu/bits/floatn.h \
/usr/include/aarch64-linux-gnu/bits/floatn-common.h \
/usr/include/stdlib.h /usr/include/aarch64-linux-gnu/bits/waitflags.h \
/usr/include/aarch64-linux-gnu/bits/waitstatus.h \
/usr/include/aarch64-linux-gnu/sys/types.h \
/usr/include/aarch64-linux-gnu/bits/types/clock_t.h \
/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \
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/usr/include/aarch64-linux-gnu/bits/stdint-intn.h /usr/include/endian.h \
/usr/include/aarch64-linux-gnu/bits/endian.h \
/usr/include/aarch64-linux-gnu/bits/endianness.h \
/usr/include/aarch64-linux-gnu/bits/byteswap.h \
/usr/include/aarch64-linux-gnu/bits/uintn-identity.h \
/usr/include/aarch64-linux-gnu/sys/select.h \
/usr/include/aarch64-linux-gnu/bits/select.h \
/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h \
/usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
/usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
/usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
/usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
/usr/include/aarch64-linux-gnu/bits/atomic_wide_counter.h \
/usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
/usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
/usr/include/alloca.h /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h /usr/include/stdint.h \
/usr/include/aarch64-linux-gnu/bits/wchar.h \
/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h /usr/include/string.h \
/usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
/usr/include/strings.h /usr/include/fcntl.h \
/usr/include/aarch64-linux-gnu/bits/fcntl.h \
/usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \
/usr/include/aarch64-linux-gnu/bits/stat.h \
/usr/include/aarch64-linux-gnu/bits/struct_stat.h /usr/include/unistd.h \
/usr/include/aarch64-linux-gnu/bits/posix_opt.h \
/usr/include/aarch64-linux-gnu/bits/environments.h \
/usr/include/aarch64-linux-gnu/bits/confname.h \
/usr/include/aarch64-linux-gnu/bits/getopt_posix.h \
/usr/include/aarch64-linux-gnu/bits/getopt_core.h \
/usr/include/aarch64-linux-gnu/bits/unistd_ext.h /usr/include/termios.h \
/usr/include/aarch64-linux-gnu/bits/termios.h \
/usr/include/aarch64-linux-gnu/bits/termios-struct.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_cc.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_iflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_oflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-baud.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_cflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-c_lflag.h \
/usr/include/aarch64-linux-gnu/bits/termios-tcflow.h \
/usr/include/aarch64-linux-gnu/bits/termios-misc.h \
/usr/include/aarch64-linux-gnu/sys/ttydefaults.h /usr/include/time.h \
/usr/include/aarch64-linux-gnu/bits/time.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
/usr/include/pthread.h /usr/include/sched.h \
/usr/include/aarch64-linux-gnu/bits/sched.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_sched_param.h \
/usr/include/aarch64-linux-gnu/bits/cpu-set.h \
/usr/include/aarch64-linux-gnu/bits/setjmp.h \
/usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h \
/usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h \
/usr/include/aarch64-linux-gnu/bits/pthread_stack_min.h \
/usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
/usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
/usr/include/wiringPi.h /usr/include/softPwm.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
/usr/include/aarch64-linux-gnu/curl/curl.h \
/usr/include/aarch64-linux-gnu/curl/curlver.h \
/usr/include/aarch64-linux-gnu/curl/system.h \
/usr/include/aarch64-linux-gnu/sys/socket.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_iovec.h \
/usr/include/aarch64-linux-gnu/bits/socket.h \
/usr/include/aarch64-linux-gnu/bits/socket_type.h \
/usr/include/aarch64-linux-gnu/bits/sockaddr.h \
/usr/include/aarch64-linux-gnu/asm/socket.h \
/usr/include/asm-generic/socket.h /usr/include/linux/posix_types.h \
/usr/include/linux/stddef.h \
/usr/include/aarch64-linux-gnu/asm/posix_types.h \
/usr/include/asm-generic/posix_types.h \
/usr/include/aarch64-linux-gnu/asm/bitsperlong.h \
/usr/include/asm-generic/bitsperlong.h \
/usr/include/aarch64-linux-gnu/asm/sockios.h \
/usr/include/asm-generic/sockios.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_osockaddr.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/limits.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/syslimits.h \
/usr/include/limits.h /usr/include/aarch64-linux-gnu/bits/posix1_lim.h \
/usr/include/aarch64-linux-gnu/bits/local_lim.h \
/usr/include/linux/limits.h \
/usr/include/aarch64-linux-gnu/bits/posix2_lim.h \
/usr/include/aarch64-linux-gnu/sys/time.h \
/usr/include/aarch64-linux-gnu/curl/easy.h \
/usr/include/aarch64-linux-gnu/curl/multi.h \
/usr/include/aarch64-linux-gnu/curl/curl.h \
/usr/include/aarch64-linux-gnu/curl/urlapi.h \
/usr/include/aarch64-linux-gnu/curl/options.h \
/usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
/home/orangepi/car/master/system/gpio/gpio_common.h \
/home/orangepi/car/master/include/log.h \
/home/orangepi/car/master/include/delay.h
build/Makefile
View file @ 82901a6b
......@@ -352,6 +352,30 @@ src/delay.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/delay.c.s
.PHONY : src/delay.c.s
src/download.o: src/download.c.o
.PHONY : src/download.o
# target to build an object file
src/download.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/download.c.o
.PHONY : src/download.c.o
src/download.i: src/download.c.i
.PHONY : src/download.i
# target to preprocess a source file
src/download.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/download.c.i
.PHONY : src/download.c.i
src/download.s: src/download.c.s
.PHONY : src/download.s
# target to generate assembly for a file
src/download.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/download.c.s
.PHONY : src/download.c.s
src/fileopen.o: src/fileopen.c.o
.PHONY : src/fileopen.o
......@@ -568,6 +592,30 @@ system/gpio/gpio_common.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_common.c.s
.PHONY : system/gpio/gpio_common.c.s
system/gpio/gpio_pwm_car0102.o: system/gpio/gpio_pwm_car0102.c.o
.PHONY : system/gpio/gpio_pwm_car0102.o
# target to build an object file
system/gpio/gpio_pwm_car0102.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o
.PHONY : system/gpio/gpio_pwm_car0102.c.o
system/gpio/gpio_pwm_car0102.i: system/gpio/gpio_pwm_car0102.c.i
.PHONY : system/gpio/gpio_pwm_car0102.i
# target to preprocess a source file
system/gpio/gpio_pwm_car0102.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.i
.PHONY : system/gpio/gpio_pwm_car0102.c.i
system/gpio/gpio_pwm_car0102.s: system/gpio/gpio_pwm_car0102.c.s
.PHONY : system/gpio/gpio_pwm_car0102.s
# target to generate assembly for a file
system/gpio/gpio_pwm_car0102.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.s
.PHONY : system/gpio/gpio_pwm_car0102.c.s
system/gpio/gpio_pwm_carship.o: system/gpio/gpio_pwm_carship.c.o
.PHONY : system/gpio/gpio_pwm_carship.o
......@@ -1299,6 +1347,9 @@ help:
@echo "... src/delay.o"
@echo "... src/delay.i"
@echo "... src/delay.s"
@echo "... src/download.o"
@echo "... src/download.i"
@echo "... src/download.s"
@echo "... src/fileopen.o"
@echo "... src/fileopen.i"
@echo "... src/fileopen.s"
......@@ -1326,6 +1377,9 @@ help:
@echo "... system/gpio/gpio_common.o"
@echo "... system/gpio/gpio_common.i"
@echo "... system/gpio/gpio_common.s"
@echo "... system/gpio/gpio_pwm_car0102.o"
@echo "... system/gpio/gpio_pwm_car0102.i"
@echo "... system/gpio/gpio_pwm_car0102.s"
@echo "... system/gpio/gpio_pwm_carship.o"
@echo "... system/gpio/gpio_pwm_carship.i"
@echo "... system/gpio/gpio_pwm_carship.s"
......
build/include/version.h
View file @ 82901a6b
......@@ -2,5 +2,5 @@
#define PROJECT_VERSION_MINOR 0
#define PROJECT_VERSION_PATCH 7
#define GIT_HASH ""
#define BUILD_TIMESTAMP "2025-04-23T02:40:45"
#define BUILD_TIMESTAMP "2025-04-28T02:55:44"
#define BUILD_USER "orangepi"
build/main
View file @ 82901a6b
No preview for this file type
device_judg/device/car.c
View file @ 82901a6b
......@@ -2,6 +2,7 @@
#include "thread_main.h"
#include "gpio_pwm_carship.h"
#include "gpio_pwm_ptz.h"
#include "gpio_pwm_car0102.h"
#include "mqtt.h"
#include "car.h"
......@@ -9,6 +10,14 @@ void car_Init_0101() {
int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
init_gpioWPi(values);
pwm_init_speed(); //pwm初始化，车为停止
midde_pwm() ;
middle_pwm() ;
AppExit_pin_pwm=101;//车的异常停止值
}
void car_Init_0102() {
int values[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1};
init_gpioWPi(values);
pwm_init_speed(); //pwm初始化，车为停止
car0102_speed_stop();
AppExit_pin_pwm=102;//车的异常停止值
}
\ No newline at end of file
device_judg/device/car.h
View file @ 82901a6b
......@@ -2,5 +2,5 @@
#define CAR_H__
void car_Init_0101();
void car_Init_0102();
#endif
\ No newline at end of file
device_judg/device_exit/device_exit.c
View file @ 82901a6b
......@@ -4,9 +4,15 @@
#include "gpio_pwm_carship.h"
#include "gpio_pwm_ptz.h"
#include "gpio_pwm_tank0202.h"
#include "gpio_pwm_car0102.h"
void car_exit_0101() {
midde_pwm();
middle_pwm();
pin_all_default();
}
void car_exit_0102() {
car0102_speed_stop();
pin_all_default();
}
......
device_judg/device_exit/device_exit.h
View file @ 82901a6b
......@@ -3,6 +3,7 @@
void car_exit_0101();//车0101
void car_exit_0102();//车0102
void tank_exit_0201();//坦克0201，小坦克
void ship_exit_0301();//船0301
void ptz_exit_0401();//炮台0401
......
device_judg/judg/judg.c
View file @ 82901a6b
......@@ -12,6 +12,7 @@
#include "fileopen.h"
#include "gpio_pwm_tank0202.h"
char TOPIC_middle[23];
char TOPIC2_middle[23];
char TOPIC3_middle[15];
......@@ -69,6 +70,7 @@ int hash_insert_init(HashTable *hashTable) {
// 插入已有的代码
insert(hashTable, "0101", CAR_0101);
insert(hashTable, "0102", CAR_0102);
insert(hashTable, "0201", TANK_0201);
insert(hashTable, "0202", TANK_0202);
insert(hashTable, "0301", SHIP_0301);
......@@ -79,6 +81,9 @@ int Device_judg(CodeEnum code,char *sub_str) {
if (code == CAR_0101) {
car_Init_0101() ;
my_zlog_info("使用型号%s",sub_str);
}else if(code == CAR_0102) {
car_Init_0102();
my_zlog_info("使用型号%s",sub_str);
}else if(code == TANK_0201) {
tank_Init_0201();
my_zlog_info("使用型号%s",sub_str);
......
device_judg/judg/judg.h
View file @ 82901a6b
......@@ -8,6 +8,7 @@
// 枚举类型是一种用户自定义的数据类型，它可以让代码更具可读性和可维护性
typedef enum {
CAR_0101 = 1,
CAR_0102,
TANK_0201,
TANK_0202,
SHIP_0301,
......
src/mqtt.c
View file @ 82901a6b
#include "common.h"
#include "gpio_pwm_carship.h"
#include "gpio_pwm_car0102.h"
#include "gpio_pwm_ptz.h"
#include "gpio_pwm_tank0202.h"
#include "ip.h"
......@@ -143,6 +144,7 @@ void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm
my_zlog_debug("valTemp:%d",gvalt[2]);
if(AppExit_pin_pwm == 101) speed_change(gvalt) ;
if(AppExit_pin_pwm == 102) car0102_speed_change(gvalt) ;
if(AppExit_pin_pwm == 202) tank0202_change(gvalt);
if(AppExit_pin_pwm == 301) ship_speed_change(gvalt) ;
if(AppExit_pin_pwm == 401) PTZ_pwm_change(gvalt);
......
src/thread_main.c
View file @ 82901a6b
......@@ -44,6 +44,7 @@ void *AppExit(void *arg) { //出现意外自动停止
gPwmCount++;
if(gPwmCount>=5) {
if(AppExit_pin_pwm==101) car_exit_0101();//车0101异常问题处理
if(AppExit_pin_pwm==102) car_exit_0102();//车0102异常问题处理
if(AppExit_pin_pwm==201) tank_exit_0201();//坦克0201异常问题处理
if(AppExit_pin_pwm==202) tank_exit_0202(); //坦克0202异常问题处理
if(AppExit_pin_pwm==301) ship_exit_0301();//船异0301常问题处理
......
system/gpio/gpio_pwm_car0102.c 0 → 100644
View file @ 82901a6b
#include "gpio_pwm_car0102.h"
#include "common.h"
void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
if (angle < 0) {
angle = 0;
} else if (angle > 180) {
angle = 180;
}
float pulse_width=(2 / 180.0) * angle + 0.5;
// 周期（ms）
float period = 1000.0 / 50;
int val = (int)((pulse_width / period) * 1000);
pwmWrite(PWM_PIN_CHANGE,val);
}
void car0102_speed_stop() {
pin_value(26,0);
pwmWrite(PWM_PIN_SPEED,0);
car0102_calculate_L_R(90);
}
void car0102_mode_1_flont(unsigned char gval) {
pin_value(26,1);
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 1000);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 800);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 750);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 700);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 650);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 600);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 550);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 500);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 450);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 400);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 350);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 300);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 250);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 200);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 150);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 100);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 50);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 0);
}
}
void car0102_mode_2_back(unsigned char gval) {
pin_value(26,0);
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 0);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 200);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 300);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 350);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 400);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 450);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 500);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 550);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 600);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 650);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 700);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 750);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 800);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 850);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 900);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 950);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 1000);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 1000);
}
}
void car0102_mode_3_left(unsigned char gval) {
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(130);
} 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) {
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);
}
}
void car0102_speed_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
unsigned char mode=buf[1];
unsigned char val=buf[2];
switch(mode){
case 1:
car0102_mode_1_flont(val);
break;
case 2:
car0102_mode_2_back(val);
break;
case 3:
car0102_mode_3_left(val);
break;
case 4:
car0102_mode_4_right(val);
break;
default:
break;
}
}
\ No newline at end of file
system/gpio/gpio_pwm_car0102.h 0 → 100644
View file @ 82901a6b
#ifndef GPIO_PWM_CAR0102_H__
#define GPIO_PWM_CAR0102_H__
void car0102_speed_stop();//小车的停止
void car0102_speed_change(unsigned char *buf);//小车的改变值
#endif
\ No newline at end of file
system/gpio/gpio_pwm_carship.c
View file @ 82901a6b
......@@ -16,7 +16,7 @@ void car_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
pwmWrite(PWM_PIN_CHANGE,val);
}
void midde_pwm() {//车停止pwm值
void middle_pwm() {//车停止pwm值
pwmWrite(PWM_PIN_SPEED,75);
car_calculate_L_R(90);
//pwmWrite(PWM_PIN_CHANGE,70);
......@@ -136,29 +136,7 @@ void mode_3_left(unsigned char gval) {
car_calculate_L_R(170);
}else if (gval <= 120) {
car_calculate_L_R(180);
}
// if (gval < 45) {
// pwmWrite(PWM_PIN_CHANGE, 70);
// } else if (gval <= 51) {
// pwmWrite(PWM_PIN_CHANGE, 80);
// } else if (gval <= 57) {
// pwmWrite(PWM_PIN_CHANGE, 83);
// } else if (gval <= 63) {
// pwmWrite(PWM_PIN_CHANGE, 85);
// } else if (gval <= 69) {
// pwmWrite(PWM_PIN_CHANGE, 90);
// } else if (gval <= 75) {
// pwmWrite(PWM_PIN_CHANGE, 95);
// } else if (gval <= 81) {
// pwmWrite(PWM_PIN_CHANGE, 98);
// } else if (gval <= 87) {
// pwmWrite(PWM_PIN_CHANGE, 100);
// } else if (gval <= 93) {
// pwmWrite(PWM_PIN_CHANGE, 102);
// } else if (gval <= 100) {
// pwmWrite(PWM_PIN_CHANGE, 105);
// }
}
}
void mode_4_right(unsigned char gval) {
......@@ -186,28 +164,7 @@ void mode_4_right(unsigned char gval) {
car_calculate_L_R(10);
} else if (gval <= 120) {
car_calculate_L_R(0);
}
// if (gval < 45) {
// pwmWrite(PWM_PIN_CHANGE, 70);
// } else if (gval <= 51) {
// pwmWrite(PWM_PIN_CHANGE, 60);
// } else if (gval <= 57) {
// pwmWrite(PWM_PIN_CHANGE, 57);
// } else if (gval <= 63) {
// pwmWrite(PWM_PIN_CHANGE, 54);
// } else if (gval <= 69) {
// pwmWrite(PWM_PIN_CHANGE, 50);
// } else if (gval <= 75) {
// pwmWrite(PWM_PIN_CHANGE, 45);
// } else if (gval <= 81) {
// pwmWrite(PWM_PIN_CHANGE, 42);
// } else if (gval <= 87) {
// pwmWrite(PWM_PIN_CHANGE, 40);
// } else if (gval <= 93) {
// pwmWrite(PWM_PIN_CHANGE, 38);
// } else if (gval <= 100) {
// pwmWrite(PWM_PIN_CHANGE, 35);
// }
}
}
void speed_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
......
system/gpio/gpio_pwm_carship.h
View file @ 82901a6b
......@@ -4,7 +4,7 @@
void pwm_speed();//pwm控制函数
void midde_pwm();//车pwm停止函数
void middle_pwm();//车pwm停止函数
void speed_change(unsigned char *buf);//速度和转向值处理mqtt函数
......
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