bk_bishe_pi/bot_code_turn/maze_func_turn.cpp

#include<iostream>
#include<string>
#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(1,22);
				MOTORDriveRaw(2,-20);
			} while (abs(ENCODERRead(2)) < 250);
		MOTORDriveRaw(1,0);
		MOTORDriveRaw(2,0);
    }
    else if (turn == 1)    //左转
		{
        	ENCODERReset(1);
			ENCODERReset(2);
			do 
			{
				MOTORDriveRaw(1,-22);
				MOTORDriveRaw(2,20);
			} while (abs(ENCODERRead(2)) < 245);
		MOTORDriveRaw(1,0);
		MOTORDriveRaw(2,0);
	}
    else if (turn == 2)     //掉头
    {
        ENCODERReset(1);
		ENCODERReset(2);
		do 
		{
			MOTORDriveRaw(1,22);
			MOTORDriveRaw(2,-20);
		
		} while (abs(ENCODERRead(2)) < 500);
		MOTORDriveRaw(1,0);
		MOTORDriveRaw(2,0);
    }
    else 
    {
        cout << "errer" << endl;
    }
	err_sum = 0;
	err_old = 0;
	err = 0;
	err_diff = 0;
    
    
}