Merge branch 'feature/tank_backchange' into 'master'

build/CMakeCache.txt

@@ -122,7 +122,7 @@ CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
 CMAKE_PROJECT_NAME:STATIC=DeviceControlSystem
 
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION:STATIC=1.1.0
+CMAKE_PROJECT_VERSION:STATIC=1.1.1
 
 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
@@ -131,7 +131,7 @@ CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
 CMAKE_PROJECT_VERSION_MINOR:STATIC=1
 
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION_PATCH:STATIC=0
+CMAKE_PROJECT_VERSION_PATCH:STATIC=1
 
 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_TWEAK:STATIC=

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 1
-#define PROJECT_VERSION_PATCH 0
+#define PROJECT_VERSION_PATCH 1
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-05-12T08:19:12"
+#define BUILD_TIMESTAMP "2025-05-13T16:13:22"
 #define BUILD_USER "orangepi"

system/gpio/gpio_pwm_tank0202.c

@@ -171,18 +171,20 @@ void mode_right_back(unsigned char gval) {
 int  tank0202_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
-    if(mode == 1 && modecount==0) {
+    if(mode == 1 ) {
         //mode_lift_flont(val);
         mode_right_flont(val);
+		modecount=0;
     }else if(mode == 2) {
         //mode_lift_back(val);
         mode_right_back(val);
+		modecount=1;
     }else if(mode == 3) {
-         mode_lift_back(val+25);
-        //mode_right_flont(80);
+        if(modecount == 0) mode_lift_back(val+25);
+        if(modecount == 1) mode_lift_flont(val+25);
     }else if(mode == 4) {
-        mode_lift_flont(val+25);
-        //mode_right_back(80);
+        if(modecount == 0) mode_lift_flont(val+25);
+        if(modecount == 1) mode_lift_back(val+25);
     }
     
 }
\ No newline at end of file