25.5.29第二次提交

bot_code_turn/makefile

@@ -1,8 +1,10 @@
 
 cxx := gccarm
+#~ cxx := g++sim
 
 file_cpp := $(wildcard *.cpp)
 file_o := /home/pi/usr/maze2.x
+#~ file_o := ../maze2.x
 
 $(file_o) : $(file_cpp)
 	@$(cxx) $^ -o $@

bot_code_turn/maze_func_turn.cpp

@@ -16,7 +16,7 @@ void BOTturn(int turn)
 			{
 				MOTORDriveRaw(1,20);
 				MOTORDriveRaw(2,-18);
-			} while (abs(ENCODERRead(2)) < 250);
+			} while (abs(ENCODERRead(2)) < 240);
 		MOTORDriveRaw(1,0);
 		MOTORDriveRaw(2,0);
     }
@@ -28,7 +28,7 @@ void BOTturn(int turn)
 			{
 				MOTORDriveRaw(1,-20);
 				MOTORDriveRaw(2,18);
-			} while (abs(ENCODERRead(2)) < 250);
+			} while (abs(ENCODERRead(2)) < 240);
 		MOTORDriveRaw(1,0);
 		MOTORDriveRaw(2,0);
 	}
@@ -41,7 +41,7 @@ void BOTturn(int turn)
 			MOTORDriveRaw(1,20);
 			MOTORDriveRaw(2,-18);
 		
-		} while (abs(ENCODERRead(2)) < 580);
+		} while (abs(ENCODERRead(2)) < 570);
 		MOTORDriveRaw(1,0);
 		MOTORDriveRaw(2,0);
     }

bot_code_turn/maze_main.cpp

@@ -26,11 +26,14 @@ int main()
   array_copy_wall(mazesize_x, mazesize_y, copy_wall);   //复制一份wall数组，并转换为一维数组，便于后续频繁读取提升性能
 
   cout << "访问数组打印：" << endl; 
+  cout << endl;
   output_arr2D(mazesize_x, mazesize_y, copy_mark);    //打印地图mark信息
   cout << "地图打印：" << endl;
+  cout << endl;
   output_arrwall(mazesize_x, mazesize_y, copy_wall);  //打印墙壁wall信息
 
   cout << "请输入目标点的X,Y坐标值 用空格隔开并回车" << endl;
+  cout << endl;
   cin >> target_x >> target_y;
   cout << endl;
 
@@ -39,6 +42,7 @@ int main()
   
   flood(map, copy_wall);  //洪水填充算法
   cout << "路径打印：" << endl;
+  cout << endl;
   output_arr2D(mazesize_x, mazesize_y, map);  //打印map的数组信息
 
   const int len = map[((target_x - 1) * mazesize_y) + (target_y -1)];  //迷宫的终点（人为确定）
@@ -47,6 +51,7 @@ int main()
   build_path(target_x - 1, target_y - 1, len, path, map, copy_wall);   //构建出最短路径path数组
 
   cout << "移动指令打印：" << endl;
+  cout << endl;
   output_arrpath(len, path);   //打印path数组信息，及小车每一步的行驶方向
 
   drive_path(len, path);  //移动到指定目标点

bot_code_turn/maze_parameter.cpp

@@ -9,8 +9,10 @@ using namespace std;
 /*---定义数据---*/
 /*---定义全局常量---*/
 const int DIST_cell = 240;     	//单元格长度
-const int DIST_move = 330;		//移动的单元格距离
+const int DIST_move = 320;		//移动的单元格距离
-const int DIST_wall_F = 95;     //与墙壁的距离
+//~ const int DIST_move = 330;		//移动的单元格距离
+const int DIST_wall_F = 100;     //与墙壁的距离
+//~ const int DIST_wall_F = 95;     //与墙壁的距离
 //~ const int DIST_wall_RL = 90;      //与左右墙壁的距离 1
 const int DIST_wall_RL = 87;      //与左右墙壁的距离