yyz/bk_bishe_pi
1
0
Fork 0
mirror of https://gitee.com/yyz_o/bk_bishe_pi.git synced 2025-09-07 23:21:26 +00:00
Code Issues Packages Projects Releases Wiki Activity

2025.5.18第一次提交，包括17号和今天上午对实机的调试

Browse Source
This commit is contained in:
Ñõԭ×Ó
2025-05-18 11:35:02 +08:00
parent 47a4473330
commit df42d6ce7f
14 changed files with 232 additions and 103 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
bot_code/maze_func_turn.cpp
View File

@@ -8,38 +8,49 @@ using namespace std;
void BOTturn(int turn)
{
if (turn == 1)
if (turn == -1) //右转
{
MOTORDriveRaw(1,24);
MOTORDriveRaw(2,-22);
OSWait(1985);
MOTORDriveRaw(1,0);
MOTORDriveRaw(2,0);
ENCODERReset(1);
ENCODERReset(2);
do
{
MOTORDriveRaw(1,21);
MOTORDriveRaw(2,-19);
} while (abs(ENCODERRead(2)) < 218);
MOTORDriveRaw(1,0);
MOTORDriveRaw(2,0);
}
else if (turn == -1)
else if (turn == 1) //左转
{
MOTORDriveRaw(1,-24);
MOTORDriveRaw(2,22);
ENCODERReset(1);
ENCODERReset(2);
do
{
MOTORDriveRaw(1,-21);
MOTORDriveRaw(2,19);
OSWait(1985);
MOTORDriveRaw(1,0);
MOTORDriveRaw(2,0);
}
else if (turn == 2)
} while (abs(ENCODERRead(2)) < 240);
MOTORDriveRaw(1,0);
MOTORDriveRaw(2,0);
}
else if (turn == 2) //掉头
{
MOTORDriveRaw(1,24);
MOTORDriveRaw(2,-22);
OSWait(2985);
MOTORDriveRaw(1,0);
MOTORDriveRaw(2,0);
ENCODERReset(1);
ENCODERReset(2);
do
{
MOTORDriveRaw(1,21);
MOTORDriveRaw(2,-19);
} while (abs(ENCODERRead(2)) < 500);
MOTORDriveRaw(1,0);
MOTORDriveRaw(2,0);
}
else
{
cout << "errer" << endl;
}
}
}