2025.5.18第一次提交，包括17号和今天上午对实机的调试

robot_test_code/实机测试/test_turn2.cpp

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+#include<iostream>
+#include<string>
+#include<cmath>
+//~ #include"eyebot++.h"
+#include"/home/pi/eyebot/include/eyebot++.h"
+using namespace std;
+
+int main()
+{
+	
+	LCDMenu("","","","END");
+	int num;
+	//~ int pwm1, pwm2;
+	do
+	{
+		cin>>num;
+		if (num == 1)
+		{
+			ENCODERReset(1);
+			ENCODERReset(2);
+			do 
+			{
+				MOTORDriveRaw(1,21);
+				MOTORDriveRaw(2,-19);
+			} while (abs(ENCODERRead(2)) < 217);
+			MOTORDriveRaw(1,0);
+			MOTORDriveRaw(2,0);
+		}
+		
+		else if (num == 2)
+		{
+			ENCODERReset(1);
+			ENCODERReset(2);
+			do 
+			{
+				MOTORDriveRaw(1,21);
+				MOTORDriveRaw(2,-19);
+			} while (abs(ENCODERRead(2)) < 500);
+			MOTORDriveRaw(1,0);
+			MOTORDriveRaw(2,0);
+		}
+		
+		else if (num == 3)
+		{
+			ENCODERReset(1);
+			ENCODERReset(2);
+			do 
+			{
+				MOTORDriveRaw(1,-21);
+				MOTORDriveRaw(2,19);
+			} while (abs(ENCODERRead(2)) < 242);
+			MOTORDriveRaw(1,0);
+			MOTORDriveRaw(2,0);
+		}
+		
+		else if (num == 4)
+		{
+			ENCODERReset(1);
+			ENCODERReset(2);
+			do 
+			{
+				MOTORDriveRaw(1,-21);
+			} while (abs(ENCODERRead(1)) < 285);
+			MOTORDriveRaw(1,0);
+			do 
+			{
+				MOTORDriveRaw(2,19);
+			} while (abs(ENCODERRead(2)) < 285);
+			MOTORDriveRaw(2,0);
+		}
+		
+		else 
+		{
+			cout << " num error " << endl;
+		}
+		
+	} while (KEYRead() != KEY4);
+	
+}