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car-controlserver
Commit 9fcd4ca1 authored by 957dd's avatar 957dd
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203和202调整速度等

parent 53ecc58f
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Showing with 43 additions and 123 deletions
build/main
View file @ 9fcd4ca1
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drivers/devicecontrol/tank0202_control.c
View file @ 9fcd4ca1
......@@ -115,83 +115,33 @@ void mode_lift_back(unsigned char gval) {
}
void 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, 80);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 65) {
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 <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79+b);
}else if (gval <= 70) {
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;
pwmWrite(PWM_PIN_CHANGE, flont_speed);
}
}
void 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, 70);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 70);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 71-b);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 69);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 67);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 66);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 65);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 64);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 63);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 61);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 60);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 59);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 58);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 57);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 56);
}
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;
pwmWrite(PWM_PIN_CHANGE, back_speed);
}
}
......@@ -202,27 +152,12 @@ int tank0202_change_grading(int mode){
mode_val=10;
break;
case 3:
mode_val=15;
break;
case 4:
mode_val=20;
break;
case 5:
mode_val=25;
break;
case 6:
case 4:
mode_val=30;
break;
case 7:
mode_val=35;
break;
case 8:
mode_val=40;
break;
case 9:
mode_val=45;
break;
case 10:
case 5:
mode_val=50;
break;
default:
......@@ -269,30 +204,30 @@ void tank0202_change(unsigned char *buf) {
mode_lift_flont(0);
mode_right_flont(0);
}else if(tank0202_front_t ==1&&tank0202_steering_t==0){
mode_right_flont(tank0202_front_val);
mode_right_flont(tank0202_front_val+10);
mode_lift_flont(0);
}else if(tank0202_front_t ==2&&tank0202_steering_t==0){
mode_right_back(tank0202_front_val);
mode_right_back(tank0202_front_val+10);
mode_lift_back(0);
}else if(tank0202_front_t ==0&&tank0202_steering_t==1){
mode_lift_back(tank0202_steering_val + tank0202_count);
mode_lift_back(tank0202_steering_val + tank0202_count+20);
mode_right_back(0);
}else if(tank0202_front_t ==0&&tank0202_steering_t==2){
mode_lift_flont(tank0202_steering_val + tank0202_count);
mode_lift_flont(tank0202_steering_val + tank0202_count+20);
mode_right_back(0);
}
else if(tank0202_front_t ==1&&tank0202_steering_t==1){
mode_lift_back(tank0202_steering_val+ tank0202_count-30);
mode_right_flont(tank0202_steering_val + tank0202_count-30);
mode_lift_back(tank0202_steering_val + 10);
mode_right_flont(tank0202_steering_val + 20);
}else if(tank0202_front_t ==1&&tank0202_steering_t==2){
mode_lift_flont(tank0202_steering_val +tank0202_count -30);
mode_right_flont(tank0202_steering_val + tank0202_count-30);
mode_lift_flont(tank0202_steering_val +10);
mode_right_flont(tank0202_steering_val + 20);
}else if(tank0202_front_t ==2&&tank0202_steering_t==1){
mode_lift_back(tank0202_steering_val + tank0202_count -30);
mode_right_back(tank0202_steering_val + tank0202_count-30);
mode_lift_back(tank0202_steering_val + 10);
mode_right_back(tank0202_steering_val + 20);
}else if(tank0202_front_t ==2&&tank0202_steering_t==2){
mode_lift_flont(tank0202_steering_val +tank0202_count-30);
mode_right_back(tank0202_steering_val + tank0202_count-30);
mode_lift_flont(tank0202_steering_val + 10);
mode_right_back(tank0202_steering_val + 20);
}
// if(mode == 1 ) {
......
drivers/devicecontrol/tank0203_control.c
View file @ 9fcd4ca1
......@@ -80,27 +80,12 @@ int tank0203_change_grading(int mode){
mode_val=10;
break;
case 3:
mode_val=15;
break;
case 4:
mode_val=20;
break;
case 5:
mode_val=25;
break;
case 6:
mode_val=30;
break;
case 7:
mode_val=35;
break;
case 8:
case 4:
mode_val=40;
break;
case 9:
mode_val=45;
break;
case 10:
case 5:
mode_val=50;
break;
default:
......@@ -153,22 +138,22 @@ void tank0203_change(unsigned char *buf) {
tank0203_mode_lift_back(tank0203_front_val+10);
tank0203_mode_right_back(tank0203_front_val+10);
}else if(tank0203_front_t ==0&&tank0203_steering_t==1){
tank0203_mode_lift_back(tank0203_steering_val + tank0203_count);
tank0203_mode_right_flont(tank0203_steering_val + tank0203_count);
tank0203_mode_lift_back(tank0203_steering_val + tank0203_count+20);
tank0203_mode_right_flont(tank0203_steering_val + tank0203_count+20);
}else if(tank0203_front_t ==0&&tank0203_steering_t==2){
tank0203_mode_lift_flont(tank0203_steering_val + tank0203_count);
tank0203_mode_right_back(tank0203_steering_val + tank0203_count);
tank0203_mode_lift_flont(tank0203_steering_val + tank0203_count+20);
tank0203_mode_right_back(tank0203_steering_val + tank0203_count+20);
}else if(tank0203_front_t ==1&&tank0203_steering_t==1){
tank0203_mode_lift_flont(0);
tank0203_mode_right_flont(tank0203_steering_val + tank0203_count+30);
tank0203_mode_right_flont(tank0203_steering_val + 60);
}else if(tank0203_front_t ==1&&tank0203_steering_t==2){
tank0203_mode_lift_flont(tank0203_steering_val + tank0203_count+30);
tank0203_mode_lift_flont(tank0203_steering_val + + 60);
tank0203_mode_right_flont(0);
}else if(tank0203_front_t ==2&&tank0203_steering_t==1){
tank0203_mode_lift_back(0);
tank0203_mode_right_back(tank0203_steering_val + tank0203_count+30);
tank0203_mode_right_back(tank0203_steering_val + + 60);
}else if(tank0203_front_t ==2&&tank0203_steering_t==2){
tank0203_mode_lift_back(tank0203_steering_val + tank0203_count+30);
tank0203_mode_lift_back(tank0203_steering_val + 60);
tank0203_mode_right_back(0);
}
......
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