坦克操控可以了,全部文件提交

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(DeviceControlSystem 
-    VERSION 1.1.0
+    VERSION 1.1.1
     LANGUAGES C
 )
 

system/gpio/gpio_pwm_tank0202.c

@@ -171,15 +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 ) {
         //mode_lift_flont(val);
         mode_right_flont(val);
 		modecount=0;
-    }else if(mode == 2) {
+    }else if(mode == 2 ) {
         //mode_lift_back(val);
         mode_right_back(val);
 		modecount=1;
-    }else if(mode == 3) {
+    }
+	
+	if((mode == 1||mode ==2)&&val == 0) modecount=0;
+
+	if(mode == 3) {
         if(modecount == 0) mode_lift_back(val+25);
         if(modecount == 1) mode_lift_flont(val+25);
     }else if(mode == 4) {