同步毕设代码

实机代码/maze_func_turn.cpp

@@ -0,0 +1,57 @@
+#include<iostream>
+#include<string>
+#include<cstdlib>
+#include"eyebot++.h"
+#include"maze_parameter.h"
+#include"maze_func.h"
+using namespace std;
+
+
+void BOTturn(int turn)
+{
+    if (turn == -1)  //右转
+    {
+        ENCODERReset(1);
+        ENCODERReset(2);
+        do 
+        {
+            MOTORDriveRaw(1,20);
+            MOTORDriveRaw(2,-18);
+        } while (abs(ENCODERRead(2)) < 240);
+        MOTORDriveRaw(1,0);
+        MOTORDriveRaw(2,0);
+    }
+    else if (turn == 1)    //左转
+    {
+        ENCODERReset(1);
+        ENCODERReset(2);
+        do 
+        {
+            MOTORDriveRaw(1,-20);
+            MOTORDriveRaw(2,18);
+        } while (abs(ENCODERRead(2)) < 240);
+        MOTORDriveRaw(1,0);
+        MOTORDriveRaw(2,0);
+    }
+    else if (turn == 2)     //掉头
+    {
+        ENCODERReset(1);
+        ENCODERReset(2);
+        do 
+        {
+            MOTORDriveRaw(1,20);
+            MOTORDriveRaw(2,-18);
+		} while (abs(ENCODERRead(2)) < 570);
+        MOTORDriveRaw(1,0);
+        MOTORDriveRaw(2,0);
+    }
+    else 
+    {
+        cout << "errer" << endl;
+        exit(1);
+    }
+    err_sum = 0;
+    err_old = 0;
+    err = 0;
+    err_diff = 0;
+}