修改了船的射击根水坦克一样

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 11
+#define PROJECT_VERSION_PATCH 12
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

drivers/devicecontrol/ship0301_control.c

@@ -68,43 +68,93 @@ void ship0301_mode_right_flont(unsigned char gval) {
 	}
 }
 
+int ship0301_change_grading(int mode){
+		int mode_val=0;
+		switch(mode){
+			case 2:
+				mode_val=10;
+				break;
+			case 3:
+				mode_val=20;
+				break;
+			case 4:
+				mode_val=30;
+				break;
+			case 5:
+				mode_val=50;
+				break;
+			default:
+				break;
+		}
+		return mode_val;
+}
+
 
 void  ship0301_change(unsigned char *buf) {
+   unsigned char type = buf[0];
     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;
-    }
+
+	static int ship0301_steering_t=0;
+	static int ship0301_front_t =0;
+
+	static int ship0301_front_val=0;
+	static int ship0301_steering_val=0;
 	
-	if((mode == 1||mode ==2)&&val == 0) {
-		modecount_ship0301=0;
-		ship0301_steer_t=0;
+	int ship0301_count=40;
+
+	if(type != 1) ship0301_count=ship0301_change_grading(type);
+
+	if((mode == 1 ||mode == 2)&&val == 0) ship0301_front_t =0;
+	if((mode == 3 ||mode == 4)&&val == 0) ship0301_steering_t=0;
+
+	if(mode == 1&&val != 0) {
+		ship0301_front_val=val;
+		ship0301_front_t =1;
+	}else if(mode == 2&&val != 0) {
+		ship0301_front_t =2;
+		ship0301_front_val=val;
 	}
 
-	if(mode == 3) {
-        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) {
-			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);
-    }
+	if(mode == 3&&val != 0) {
+		ship0301_steering_t =1;
+		ship0301_steering_val = val;
+	}else if(mode == 4&&val != 0) {
+		ship0301_steering_t =2;
+		ship0301_steering_val = val;
+	}
+
+	if(ship0301_front_t ==0&&ship0301_steering_t==0){
+		ship0301_mode_lift_flont(0);
+        ship0301_mode_right_flont(0);
+	}else if(ship0301_front_t ==1&&ship0301_steering_t==0){
+		ship0301_mode_lift_flont(ship0301_front_val);
+        ship0301_mode_right_flont(ship0301_front_val);
+	}else if(ship0301_front_t ==2&&ship0301_steering_t==0){
+		ship0301_mode_lift_back(ship0301_front_val);
+        ship0301_mode_right_back(ship0301_front_val);
+	}else if(ship0301_front_t ==0&&ship0301_steering_t==1){
+		ship0301_mode_right_flont(ship0301_steering_val+ship0301_count);
+		ship0301_mode_lift_flont(0);
+	}else if(ship0301_front_t ==0&&ship0301_steering_t==2){
+		ship0301_mode_right_flont(0);
+		ship0301_mode_lift_flont(ship0301_steering_val+ship0301_count+10);
+	}else if(ship0301_front_t ==1&&ship0301_steering_t==1){
+		ship0301_mode_right_flont(ship0301_steering_val+ship0301_count+10);
+		ship0301_mode_lift_flont(ship0301_count+15);
+	}else if(ship0301_front_t ==1&&ship0301_steering_t==2){
+		ship0301_mode_right_flont(ship0301_count+15);
+		ship0301_mode_lift_flont(ship0301_steering_val+ship0301_count+10);
+	}else if(ship0301_front_t ==2&&ship0301_steering_t==1){
+		ship0301_mode_lift_back(ship0301_count+15);
+        ship0301_mode_right_back(ship0301_steering_val+ship0301_count+10);
+	}else if(ship0301_front_t ==2&&ship0301_steering_t==2){
+		ship0301_mode_lift_back(ship0301_steering_val+ship0301_count+10);
+        ship0301_mode_right_back(ship0301_count+15);
+	}
+
+
+
+
     
 }
\ No newline at end of file

drivers/gpio/gpio_control.c

@@ -452,17 +452,18 @@ void ship0301_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(26, 35);
         } else {
             softPwmWrite(pin, 35);
             my_zlog_debug("pwm:%d",pin);
         }
         
 	}else if(value==0) {
+        if(pin == 27) softPwmWrite(26, 0);
 		softPwmWrite(pin, 0);
 		my_zlog_debug("pwm:%d,0",pin);
 	}
-     my_zlog_debug("ship0301 pwm");
+     my_zlog_debug("tank0301 pwm");
 }
 
 

modules/mqtt/mqtt_infor_handle.c

@@ -86,6 +86,7 @@ void heartbeat_send() {
 //角度发送
 void angle_mqtt_send() { 
     static int angle_i=0;
+    static double record_angle_t=0;
     cJSON *root = cJSON_CreateObject();
     char TOPIC_send_angle[26];
     double rounded_angle = tank_angle();
@@ -98,7 +99,11 @@ void angle_mqtt_send() {
         my_zlog_debug("%s",payload);
         angle_i=0;
     }
-    mosquitto_publish(mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false); 
+    if(fabs(rounded_angle - record_angle_t) >3){
+        mosquitto_publish(mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false);
+    }
+    
+    record_angle_t=rounded_angle;
     cJSON_Delete(root);  // 释放 cJSON 对象
     
 }
@@ -110,7 +115,16 @@ void mqtt_beat_wirte(){
     heartbeat_send();
     g_heartbeat_count=0;
     }
-    if( g_device_type == DEVICE_TANK0202||g_device_type == DEVICE_TANK0203) angle_mqtt_send();  
+
+    switch (g_device_type) {
+        case DEVICE_TANK0202:
+        case DEVICE_TANK0203:
+        case DEVICE_TANK0204:
+            angle_mqtt_send();
+            break;
+        default:
+            break;
+    }
 
 }