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调整了眯眼的坦克左右速度后续还需调整

parent a5723eea
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CMakeLists.txt
View file @ c110a0be
cmake_minimum_required(VERSION 3.10)
project(car
VERSION 1.2.9
VERSION 1.2.10
LANGUAGES C
)
......
build/include/version.h
View file @ c110a0be
#define PROJECT_VERSION_MAJOR 1
#define PROJECT_VERSION_MINOR 2
#define PROJECT_VERSION_PATCH 9
#define PROJECT_VERSION_PATCH 10
#define GIT_HASH ""
#define BUILD_TIMESTAMP ""
#define BUILD_USER ""
build/main
View file @ c110a0be
No preview for this file type
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../third_party/mosquitto/src/password_mosq.h:
/usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h:
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h:
/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
/usr/include/strings.h:
/usr/include/aarch64-linux-gnu/bits/timesize.h:
/usr/include/stdlib.h:
/usr/include/aarch64-linux-gnu/bits/select.h:
/usr/include/linux/stat.h:
/usr/include/openssl/evperr.h:
/usr/include/openssl/bio.h:
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
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/usr/include/aarch64-linux-gnu/bits/time64.h:
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/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
../third_party/mosquitto/include/mosquitto_broker.h:
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h:
......@@ -1209,6 +1170,20 @@ third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_secu
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/usr/include/openssl/opensslv.h:
/usr/include/stdc-predef.h:
../third_party/mosquitto/plugins/dynamic-security/auth.c:
/usr/include/linux/types.h:
/usr/lib/gcc/aarch64-linux-gnu/11/include/syslimits.h:
/usr/include/openssl/e_os2.h:
/usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h:
......@@ -1229,6 +1204,8 @@ third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_secu
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/usr/include/aarch64-linux-gnu/bits/posix2_lim.h:
......@@ -1239,26 +1216,16 @@ third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_secu
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/home/orangepi/recar/rematser/third_party/mosquitto/plugins/dynamic-security/json_help.c:
/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h:
/usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h:
/home/orangepi/recar/rematser/third_party/mosquitto/plugins/dynamic-security/groups.c:
/usr/include/aarch64-linux-gnu/bits/stdio_lim.h:
/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
/usr/include/openssl/crypto.h:
/home/orangepi/recar/rematser/third_party/mosquitto/deps/utlist.h:
/usr/include/openssl/stack.h:
/home/orangepi/recar/rematser/third_party/mosquitto/plugins/dynamic-security/plugin.c:
/usr/include/openssl/types.h:
/usr/include/aarch64-linux-gnu/bits/pthreadtypes.h:
......@@ -1295,12 +1262,8 @@ third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_secu
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/home/orangepi/recar/rematser/third_party/mosquitto/config.h:
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/usr/include/aarch64-linux-gnu/bits/types/struct_sched_param.h:
/usr/include/openssl/buffer.h:
......@@ -1313,12 +1276,16 @@ third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_secu
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/usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h:
/usr/include/openssl/bn.h:
/home/orangepi/recar/rematser/third_party/mosquitto/plugins/dynamic-security/clientlist.c:
/usr/include/openssl/bnerr.h:
/usr/include/aarch64-linux-gnu/bits/long-double.h:
......
build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/compiler_depend.internal
View file @ c110a0be
......@@ -3,9 +3,8 @@
third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/mosquitto_message_timestamp.c.o
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/usr/include/stdc-predef.h
/home/orangepi/recar/rematser/third_party/mosquitto/config.h
/home/orangepi/recar/master/third_party/mosquitto/config.h
/usr/include/aarch64-linux-gnu/openssl/opensslconf.h
/usr/include/aarch64-linux-gnu/openssl/configuration.h
/usr/include/openssl/macros.h
......@@ -50,14 +49,14 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h
/home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_broker.h
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/home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_plugin.h
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build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/compiler_depend.make
View file @ c110a0be
......@@ -2,9 +2,8 @@
# Generated by "Unix Makefiles" Generator, CMake Version 3.22
third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/mosquitto_message_timestamp.c.o: ../third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c \
/home/orangepi/recar/rematser/third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c \
/usr/include/stdc-predef.h \
/home/orangepi/recar/rematser/third_party/mosquitto/config.h \
../third_party/mosquitto/config.h \
/usr/include/aarch64-linux-gnu/openssl/opensslconf.h \
/usr/include/aarch64-linux-gnu/openssl/configuration.h \
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......@@ -49,21 +48,23 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
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/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h \
../third_party/mosquitto/include/mosquitto_broker.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.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-intn.h \
/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \
/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h \
/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h \
/home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h
../third_party/mosquitto/include/mosquitto_plugin.h \
../third_party/mosquitto/include/mosquitto.h \
../third_party/mosquitto/include/mqtt_protocol.h
/home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h:
../third_party/mosquitto/include/mqtt_protocol.h:
/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h:
../third_party/mosquitto/include/mosquitto.h:
../third_party/mosquitto/include/mosquitto_plugin.h:
/usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h:
......@@ -85,18 +86,12 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h:
/usr/include/aarch64-linux-gnu/bits/stdint-intn.h:
/usr/include/time.h:
/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_broker.h:
/usr/include/aarch64-linux-gnu/bits/floatn-common.h:
/usr/include/aarch64-linux-gnu/bits/types/cookie_io_functions_t.h:
/usr/include/aarch64-linux-gnu/bits/libc-header-start.h:
/usr/include/features-time64.h:
......@@ -115,15 +110,17 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/aarch64-linux-gnu/bits/wordsize.h:
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/usr/include/openssl/opensslv.h:
/usr/include/aarch64-linux-gnu/bits/stdio_lim.h:
/usr/include/openssl/macros.h:
/home/orangepi/recar/rematser/third_party/mosquitto/config.h:
/usr/include/aarch64-linux-gnu/bits/wordsize.h:
/usr/include/aarch64-linux-gnu/openssl/opensslconf.h:
../third_party/mosquitto/config.h:
/usr/include/stdc-predef.h:
......@@ -131,9 +128,7 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/openssl/opensslv.h:
/home/orangepi/recar/rematser/third_party/mosquitto/plugins/message-timestamp/mosquitto_message_timestamp.c:
/usr/include/aarch64-linux-gnu/bits/timesize.h:
/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
......@@ -143,8 +138,6 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/aarch64-linux-gnu/bits/long-double.h:
......@@ -157,6 +150,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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......@@ -176,3 +171,5 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.internal
View file @ c110a0be
......@@ -3,7 +3,6 @@
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/usr/include/stdc-predef.h
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......@@ -33,7 +32,7 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_broker.h
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......@@ -51,7 +50,7 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h
/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto.h
/home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h
/home/orangepi/recar/master/third_party/mosquitto/include/mosquitto_plugin.h
/home/orangepi/recar/master/third_party/mosquitto/include/mosquitto.h
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build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.make
View file @ c110a0be
......@@ -2,7 +2,6 @@
# Generated by "Unix Makefiles" Generator, CMake Version 3.22
third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/mosquitto_payload_modification.c.o: ../third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c \
/home/orangepi/recar/rematser/third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c \
/usr/include/stdc-predef.h \
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......@@ -32,7 +31,7 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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......@@ -50,14 +49,16 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/home/orangepi/recar/rematser/third_party/mosquitto/include/mqtt_protocol.h
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../third_party/mosquitto/include/mqtt_protocol.h:
/home/orangepi/recar/rematser/third_party/mosquitto/include/mosquitto_plugin.h:
../third_party/mosquitto/include/mosquitto.h:
../third_party/mosquitto/include/mosquitto_plugin.h:
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......@@ -71,8 +72,6 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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......@@ -85,7 +84,13 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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../third_party/mosquitto/include/mosquitto_broker.h:
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/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
......@@ -101,10 +106,14 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/usr/include/stdio.h:
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......@@ -115,8 +124,6 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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View file @ c110a0be
This source diff could not be displayed because it is too large. You can view the blob instead.
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View file @ c110a0be
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drivers/devicecontrol/tank0202_control.c
View file @ c110a0be
......@@ -93,9 +93,9 @@ void mode_right_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 78);
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 70) {
......@@ -133,19 +133,19 @@ void mode_right_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 71);
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 <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 69);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 68);
pwmWrite(PWM_PIN_CHANGE, 67);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 66);
} else if (gval <= 120) {
......@@ -186,11 +186,11 @@ void tank0202_change(unsigned char *buf) {
if((mode == 1||mode ==2)&&val == 0) g_modecount_tank0202=0;
if(mode == 3) {
if(g_modecount_tank0202 == 0) mode_lift_back(val+15);
if(g_modecount_tank0202 == 1) mode_lift_flont(val+15);
if(g_modecount_tank0202 == 0) mode_lift_back(val+40);
if(g_modecount_tank0202 == 1) mode_lift_flont(val+40);
}else if(mode == 4) {
if(g_modecount_tank0202 == 0) mode_lift_flont(val+15);
if(g_modecount_tank0202 == 1) mode_lift_back(val+15);
if(g_modecount_tank0202 == 0) mode_lift_flont(val+40);
if(g_modecount_tank0202 == 1) mode_lift_back(val+40);
}
}
drivers/devicecontrol/tank0203_control.c
View file @ c110a0be
......@@ -82,12 +82,12 @@ void tank0203_change(unsigned char *buf) {
static int tank0203_index =0;
if(mode == 1 ) {
tank0203_mode_lift_flont(val);
tank0203_mode_right_flont(val);
tank0203_mode_lift_flont(val+10);
tank0203_mode_right_flont(val+10);
modecount_tank0203=0;
}else if(mode == 2 ) {
tank0203_mode_lift_back(val);
tank0203_mode_right_back(val);
tank0203_mode_lift_back(val+10);
tank0203_mode_right_back(val+10);
modecount_tank0203=1;
}
if((mode == 1||mode == 2)&&val == 0) {
......@@ -103,16 +103,16 @@ void tank0203_change(unsigned char *buf) {
tank0203_mode_lift_flont(0);
}
else {
tank0203_mode_lift_back(val+30);
tank0203_mode_right_flont(val+30);
tank0203_mode_lift_back(val+40);
tank0203_mode_right_flont(val+40);
}
}
if(modecount_tank0203 == 1) {
if(tank0203_index == 1) {
tank0203_mode_lift_back(0);
}else {
tank0203_mode_lift_back(val+30);
tank0203_mode_right_flont(val+30);
tank0203_mode_lift_back(val+40);
tank0203_mode_right_flont(val+40);
}
}
......@@ -122,8 +122,8 @@ void tank0203_change(unsigned char *buf) {
tank0203_mode_right_back(0);
}
else {
tank0203_mode_lift_flont(val+30);
tank0203_mode_right_back(val+30);
tank0203_mode_lift_flont(val+40);
tank0203_mode_right_back(val+40);
}
}
if(modecount_tank0203 == 0) {
......@@ -131,8 +131,8 @@ void tank0203_change(unsigned char *buf) {
tank0203_mode_right_flont(0);
}
else {
tank0203_mode_lift_flont(val+30);
tank0203_mode_right_back(val+30);
tank0203_mode_lift_flont(val+40);
tank0203_mode_right_back(val+40);
}
}
......
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