优化了大车转向代码

drivers/devicecontrol/car0101_control.c

@@ -55,7 +55,7 @@ void car0101_mode_2_back(unsigned char gval) {
 
 
 void car0101_mode_3_left(unsigned char gval) {
-	int b=10;
+	int b=15;
 	if(gval<45){
 		car_calculate_L_R(90);
 	}else if(gval<70){
@@ -66,7 +66,7 @@ void car0101_mode_3_left(unsigned char gval) {
 }
 
 void car0101_mode_4_right(unsigned char gval) {
-	int b=20;
+	int b=10;
 	if(gval<45){
 		car_calculate_L_R(90);
 	}else if(gval<70){

drivers/devicecontrol/tank_common.c

@@ -134,13 +134,15 @@ static void tankshot_detectionback(){
 	if(digitalRead(12)==LOW) {
 		s_back_status=true;
 		index=1;
-		g_device_delay_back_count=0;
 		delay_ms(100); // 延时 100ms，防止抖动	
+		g_device_delay_back_count=0;
 		softPwmWrite(27, 0);
 		set_backshotstatus(false);
 		my_zlog_info("检测引脚12拉低");
 	}
-	if(s_back_status==true&&index==1) tank_delay_shot_back();
+	if(s_back_status==true&&index==1) {
+		tank_delay_shot_back();
+	}
 	tankshot_detectionback_count++;
 	if(tankshot_detectionback_count>3000){
 		softPwmWrite(27, 0);

drivers/gpio/gpio_control.c

@@ -176,23 +176,29 @@ void tank_angle_limit_function(){
         limit_status = angle_limit();
         if(limit_status==LIMIT_LIFT) {
             device_gpio_control(g_device_type,5,0);
-            my_zlog_info("lift limit stop");
+            if(limit_log_count>100){
+                my_zlog_info("right limit");
+                limit_log_count=0;
+            }
         }
         else if(limit_status==LIMIT_RIGHT) {
             device_gpio_control(g_device_type,7,0);
-            my_zlog_info("right limit stop");
+            if(limit_log_count>100){
+                my_zlog_info("lift limit");
+                limit_log_count=0;
+            }
         }
 
-        if(limit_status==0) {
+        else if(limit_status==0) {
             limit_log_count++;
             if(limit_log_count>100){
                 my_zlog_info("limit stop");
                 limit_log_count=0;
             }
-            
+            delay_ms(5);
         }
-
-     delay_ms(8);
+         
+    
     }
 }
 

drivers/sensors/tank_angle.c

@@ -15,7 +15,7 @@ double tank_angle(){
 
 int angle_limit(){
     if(ANGLE_LIMIT_INDEX == 1 ){
-        int tank_limit_angele = tank_angle();
+        int tank_limit_angele = (int)tank_angle();
         if(tank_limit_angele >=LIFT_LIMIT && tank_limit_angele<=MIDDLE_LIMIT) return 1;
         else if(tank_limit_angele >=MIDDLE_LIMIT && tank_limit_angele<=RIGHT_LIMIT) return 2;
         return 0;

drivers/sensors/tank_angle.h

@@ -5,12 +5,14 @@
 #define MIDDLE_LIMIT 180
 #define RIGHT_LIMIT 200
 
-#define ANGLE_LIMIT_INDEX 1 //是否开启角度旋转
+#define ANGLE_LIMIT_INDEX 1 //是否开启角度限制
 
 double tank_angle();
 
 int angle_limit();
 
+void settank_angle(double angle);
+
 float low_pass_filter_360(float prev_angle, float new_angle, float alpha);
 
 void set_tank_angle_count();//计时

modules/mqtt/mqtt_infor_handle.c

@@ -78,9 +78,14 @@ void angle_mqtt_send() {
     char TOPIC_send_angle[26];
     static double prev_angle=0;
     static double rounded_angle;
-    rounded_angle =low_pass_filter_360(prev_angle,tank_angle(),0.8);
+    rounded_angle =low_pass_filter_360(prev_angle,tank_angle(),0.7);
     sprintf(TOPIC_send_angle,"dev_rtinfo/%s",mqtt_topic_pure_number());
     cJSON_AddStringToObject(root, "type","tank_angle");
+    if(rounded_angle>160&&rounded_angle<180){
+        rounded_angle=160;
+    }else if(rounded_angle<200&&rounded_angle>180){
+        rounded_angle=200;
+    }
     cJSON_AddNumberToObject(root, "angle",rounded_angle);
     char *payload = cJSON_PrintUnformatted(root);
     angle_i++;