diff --git a/2021_Arduino_Demo.vcxproj b/2021_Arduino_Demo.vcxproj
index b61f874..d287c92 100644
--- a/2021_Arduino_Demo.vcxproj
+++ b/2021_Arduino_Demo.vcxproj
@@ -76,7 +76,7 @@
__AVR_atmega2560__;__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)
stdcpp17
stdc11
- $(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)
+ $(ProjectDir)..\Arduino;G:\Users\15819\Documents\Arduino\libraries\ExtSRAMInterface;G:\Users\15819\Documents\Arduino\libraries\DCMotor;G:\Users\15819\Documents\Arduino\libraries\MsTimer2;G:\Users\15819\Documents\Arduino\libraries\Command;G:\Users\15819\Documents\Arduino\libraries\BEEP;G:\Users\15819\Documents\Arduino\libraries\Ultrasonic;G:\Users\15819\Documents\Arduino\libraries\BKRC_Voice;G:\Users\15819\Documents\Arduino\libraries\CoreBeep;G:\Users\15819\Documents\Arduino\libraries\CoreKEY;G:\Users\15819\Documents\Arduino\libraries\CoreLED;G:\Users\15819\Documents\Arduino\libraries\BH1750;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src;G:\Users\15819\Documents\Arduino\libraries\Infrares;G:\Users\15819\Documents\Arduino\libraries\LED;G:\Users\15819\Documents\Arduino\libraries\Metro;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\libraries\Wire\src\utility;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega;C:\Users\15819\AppData\Local\arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino;$(ProjectDir)..\..\..\RACECA~1\SUBCAR~1\Arduino;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\\lib\gcc\avr\7.3.0\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include-fixed;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.2\include;C:\Users\15819\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)
true
diff --git a/AccurateMotor.h b/AccurateMotor.h
index d92f2fc..8508c1d 100644
--- a/AccurateMotor.h
+++ b/AccurateMotor.h
@@ -21,7 +21,7 @@ private:
bool car_running;
const uint8_t car_speed = 50;
const uint8_t car_turn_speed = 100;
- const uint8_t turn_multplyer = 8;
+ const uint8_t turn_multplyer = 7;
const uint8_t run_multplyer = 100;
private:
diff --git a/OpenMVOpt.cpp b/OpenMVOpt.cpp
index 08baa2f..1f3d605 100644
--- a/OpenMVOpt.cpp
+++ b/OpenMVOpt.cpp
@@ -51,42 +51,56 @@ void OpenMVOpt::AdjustCarPosition(uint8_t Car_Speed)
DCMotor.SpeedCtr(50, 5);
}
}
- else if (Data_OpenMVBuf[6] <= 50)
+ else
{
-
+ AccurateMotor.ForceStop();
if (Data_OpenMVBuf[5] == 43) // + 向左调
{
- DCMotor.SpeedCtr(0, 40);
+ AccurateMotor.TurnLeft(Data_OpenMVBuf[6] / 6);
}
else if (Data_OpenMVBuf[5] == 45) // - 向右调
{
- DCMotor.SpeedCtr(40, 0);
+ AccurateMotor.TurnRight(Data_OpenMVBuf[6] / 6);
}
+ AccurateMotor.DelayUntilCarStop();
+ DCMotor.SpeedCtr(Car_Speed, Car_Speed);
}
- else if (Data_OpenMVBuf[6] <= 70)
- {
+ //else if (Data_OpenMVBuf[6] <= 50)
+ //{
- if (Data_OpenMVBuf[5] == 43) // + 向左调
- {
- DCMotor.SpeedCtr(-20, 40);
- }
- else if (Data_OpenMVBuf[5] == 45) // - 向右调
- {
- DCMotor.SpeedCtr(40, -20);
- }
- }
- else if (Data_OpenMVBuf[6] > 70)
- {
+ // if (Data_OpenMVBuf[5] == 43) // + 向左调
+ // {
+ // DCMotor.SpeedCtr(0, 40);
+ // }
+ // else if (Data_OpenMVBuf[5] == 45) // - 向右调
+ // {
+ // DCMotor.SpeedCtr(40, 0);
+ // }
+ //}
+ //else if (Data_OpenMVBuf[6] <= 70)
+ //{
- if (Data_OpenMVBuf[5] == 43) // + 向左调
- {
- DCMotor.SpeedCtr(-30, 30);
- }
- else if (Data_OpenMVBuf[5] == 45) // - 向右调
- {
- DCMotor.SpeedCtr(30, -30);
- }
- }
+ // if (Data_OpenMVBuf[5] == 43) // + 向左调
+ // {
+ // DCMotor.SpeedCtr(-20, 40);
+ // }
+ // else if (Data_OpenMVBuf[5] == 45) // - 向右调
+ // {
+ // DCMotor.SpeedCtr(40, -20);
+ // }
+ //}
+ //else if (Data_OpenMVBuf[6] > 70)
+ //{
+
+ // if (Data_OpenMVBuf[5] == 43) // + 向左调
+ // {
+ // DCMotor.SpeedCtr(-30, 30);
+ // }
+ // else if (Data_OpenMVBuf[5] == 45) // - 向右调
+ // {
+ // DCMotor.SpeedCtr(30, -30);
+ // }
+ //}
}
OpenMVOpt::ImageROIData OpenMVOpt::GetROIData()
diff --git a/__vm/Compile.vmps.xml b/__vm/Compile.vmps.xml
index e6ef9f4..5c28bc0 100644
--- a/__vm/Compile.vmps.xml
+++ b/__vm/Compile.vmps.xml
@@ -2,7 +2,7 @@
-
+
diff --git a/__vm/Upload.vmps.xml b/__vm/Upload.vmps.xml
index e6ef9f4..5c28bc0 100644
--- a/__vm/Upload.vmps.xml
+++ b/__vm/Upload.vmps.xml
@@ -2,7 +2,7 @@
-
+