feat: tracking
This commit is contained in:
玖叁
parent
80f7f8f234
commit
91c4500d82
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@ -8,6 +8,58 @@
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"files.associations": {
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"*.toml": "toml",
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"Comfyfile": "raw",
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"*.tcc": "cpp"
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"*.tcc": "cpp",
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"array": "cpp",
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"atomic": "cpp",
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"cctype": "cpp",
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"chrono": "cpp",
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"clocale": "cpp",
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"cmath": "cpp",
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"condition_variable": "cpp",
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"cstdarg": "cpp",
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"cstddef": "cpp",
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"cstdint": "cpp",
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"cstdio": "cpp",
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"cstdlib": "cpp",
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"ctime": "cpp",
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"cwchar": "cpp",
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"cwctype": "cpp",
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"deque": "cpp",
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"unordered_map": "cpp",
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"unordered_set": "cpp",
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"vector": "cpp",
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"exception": "cpp",
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"algorithm": "cpp",
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"functional": "cpp",
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"iterator": "cpp",
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"map": "cpp",
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"memory": "cpp",
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"memory_resource": "cpp",
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"numeric": "cpp",
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"optional": "cpp",
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"random": "cpp",
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"ratio": "cpp",
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"string": "cpp",
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"string_view": "cpp",
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"system_error": "cpp",
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"tuple": "cpp",
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"type_traits": "cpp",
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"utility": "cpp",
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"fstream": "cpp",
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"initializer_list": "cpp",
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"iomanip": "cpp",
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"iosfwd": "cpp",
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"iostream": "cpp",
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"istream": "cpp",
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"limits": "cpp",
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"mutex": "cpp",
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"new": "cpp",
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"ostream": "cpp",
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"sstream": "cpp",
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"stdexcept": "cpp",
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"streambuf": "cpp",
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"thread": "cpp",
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"cinttypes": "cpp",
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"typeinfo": "cpp"
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}
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}
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@ -19,6 +19,9 @@
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#define CMD_SET_NAME 0xA1
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#define CMD_SET_PID 0xA2
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#define CMD_SET_TRACKING_SPEED 0xA3
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#define CMD_SET_TRACKING_SENSITIVE 0xA4
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#define CMD_MOTOR_MOVE_CONTROL 0x20
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#define CMD_MOTOR_STEER_CONTROL 0x21
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#define CMD_MOTOR_SINGLE_CONTROL 0x22
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@ -46,6 +49,8 @@ public:
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static void motorXYRControl(BLECharacteristic &characteristic, uint8_t *packet);
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static void modeControl(BLECharacteristic &characteristic, uint8_t *packet);
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static void demoPID(BLECharacteristic &characteristic, uint8_t *packet);
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static void setTrackingSensitive(BLECharacteristic &characteristic, uint8_t *packet);
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static void setTrackingSpeed(BLECharacteristic &characteristic, uint8_t *packet);
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};
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#endif
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@ -1,14 +1,15 @@
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#ifndef IR_H
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#define IR_H
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#include <SoftwareSerial.h>
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#include <Wire.h>
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#include <Arduino.h>
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#include <algorithm>
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#include "consts.h"
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enum IRMode
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{
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IR_MODE_GPIO,
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IR_MODE_UART
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IR_MODE_I2C
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};
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struct IRData
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@ -22,7 +23,7 @@ struct IRData
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class IR
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{
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public:
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static SoftwareSerial *uart;
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static TwoWire *i2c;
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static IRData data;
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static void init();
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static void update();
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@ -13,6 +13,7 @@ class Mode
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{
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public:
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static ModeType mode;
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static ModeType lastMode;
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static void processDeviceMode();
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};
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@ -19,6 +19,11 @@ struct MotorStatus
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unsigned char pwm;
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};
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typedef enum {
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ROTATE_CLOCKWISE = 1,
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ROTATE_ANTICLOCKWISE = -1,
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} RotateDirection;
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class MotorController
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{
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public:
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@ -26,6 +31,7 @@ public:
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static void pwmControl(char motor, unsigned char pwm);
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static void motorControl(char motor, int speed);
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static void motorXYRControl(int8_t x, int8_t y, int8_t r);
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static void rotate(RotateDirection direction, uint8_t speed);
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// 获取电机状态
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static MotorStatus getMotorStatus(char motor);
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@ -16,6 +16,8 @@ public:
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static unsigned int getSensitivity();
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static void setName(String name);
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static String getName();
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static void setTrackingParams(uint8_t baseSpeed, uint8_t turnSpeed, uint8_t rotateSensitive);
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static void getTrackingParams(uint8_t &baseSpeed, uint8_t &turnSpeed, uint8_t &rotateSensitive);
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};
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#endif
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@ -4,10 +4,14 @@
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#include "ir.h"
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#include "motor.h"
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#include "pid.h"
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#include "storage.h"
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class TrackingController {
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public:
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static uint8_t baseSpeed; // 基础前进速度
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static uint8_t turnSpeed; // 转弯速度
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static uint8_t rotateSensitive; // 旋转灵敏度
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static float lastOffset; // 上一次的偏移量
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// 初始化循迹控制器
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static void init();
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@ -18,11 +22,18 @@ public:
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// 设置循迹速度
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static void setSpeed(uint8_t baseSpeed, uint8_t turnSpeed);
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// 设置旋转灵敏度
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static void setRotateSensitive(uint8_t sensitive);
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// 计算偏移量
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static float calculateOffset(const IRData& irData);
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private:
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static constexpr float LOST_LINE = 999.0f; // 使用一个特殊值表示丢线状态
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static bool isSearching; // 标记是否处于搜索模式
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static unsigned long allHighStartTime; // 记录全高状态开始的时间
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static bool isAllHighState; // 记录是否处于全高状态
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static constexpr unsigned long ALL_HIGH_TIMEOUT = 1000; // 全高状态超时时间（1秒）
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};
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#endif
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14
packet.md
14
packet.md
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@ -125,7 +125,7 @@
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包体 `00 05 30 模式 FF`
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控制示例 `00 05 30 01 FE`
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控制示例 `00 05 30 01 FF`
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## 设置
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@ -147,6 +147,18 @@
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设置示例 `00 11 A2 01 01 01 01 01 01 01 01 01 01 01 01 01 FF`
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### 设置循迹速度 `0xA3`
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包体 `00 06 A3 基础速度 转弯速度 FF`
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设置示例 `00 06 A3 50 50 FF`
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### 设置循迹转弯灵敏度 `0xA4`
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包体 `00 05 A4 灵敏度 FF`
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设置示例 `00 05 A4 03 FF`
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## 状态回报
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### 设备状态回报 `0xE0`
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@ -129,18 +129,12 @@ void Handlers::motorRotateControl(BLECharacteristic &characteristic, uint8_t *pa
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// 顺时针
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if (direction == 0x00)
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{
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MotorController::motorControl('A', 255);
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MotorController::motorControl('B', 255);
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MotorController::motorControl('C', -255);
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MotorController::motorControl('D', -255);
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MotorController::rotate(ROTATE_CLOCKWISE, 255);
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}
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// 逆时针
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else if (direction == 0x01)
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{
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MotorController::motorControl('A', -255);
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MotorController::motorControl('B', -255);
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MotorController::motorControl('C', 255);
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MotorController::motorControl('D', 255);
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MotorController::rotate(ROTATE_ANTICLOCKWISE, 255);
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}
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}
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@ -194,6 +188,21 @@ void Handlers::modeControl(BLECharacteristic &characteristic, uint8_t *packet)
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}
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}
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// 设置循迹转弯灵敏度
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void Handlers::setTrackingSensitive(BLECharacteristic &characteristic, uint8_t *packet)
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{
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uint8_t sensitive = packet[3];
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TrackingController::setRotateSensitive(sensitive);
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}
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// 设置循迹速度
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void Handlers::setTrackingSpeed(BLECharacteristic &characteristic, uint8_t *packet)
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{
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uint8_t baseSpeed = packet[3];
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uint8_t turnSpeed = packet[4];
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TrackingController::setSpeed(baseSpeed, turnSpeed);
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}
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void Handlers::demoPID(BLECharacteristic &characteristic, uint8_t *packet)
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{
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Serial.println("CMD_DEMO_PID");
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70
src/ir.cpp
70
src/ir.cpp
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@ -1,7 +1,7 @@
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#include "ir.h"
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IRData IR::data;
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SoftwareSerial *IR::uart;
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TwoWire *IR::i2c;
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void IR::init()
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{
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@ -16,13 +16,23 @@ void IR::init()
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data.pins[i] = pins[i];
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};
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}
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else if (IR_MODE == IRMode::IR_MODE_UART)
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else if (IR_MODE == IRMode::IR_MODE_I2C)
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{
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uint8_t pins[2] = IR_PINS;
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data.pins[0] = pins[0];
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data.pins[1] = pins[1];
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uart = new SoftwareSerial(pins[0], pins[1]);
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uart->begin(IR_BAUD);
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data.pins[0] = pins[0]; // SCL
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data.pins[1] = pins[1]; // SDA
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// 检查引脚值是否有效
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if (data.pins[0] >= 0 && data.pins[1] >= 0) {
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i2c = new TwoWire(0);
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if (i2c->begin(data.pins[1], data.pins[0])) {
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Serial.println("I2C initialized successfully");
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} else {
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Serial.println("I2C initialization failed");
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}
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} else {
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Serial.println("Invalid I2C pins");
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}
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}
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}
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@ -32,14 +42,52 @@ void IR::update()
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{
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for (int i = 0; i < data.count; i++)
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{
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data.data[i] = digitalRead(data.pins[i]);
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// 读取传感器数据
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bool value = digitalRead(data.pins[i]);
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// 根据 IR_REVERSE 判断是否需要反转电平
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#if IR_OUTPUT_REVERSE
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value = !value;
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#endif
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// 根据传感器排列方向存储数据
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#ifdef IR_DIRECTION_REVERSE
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data.data[data.count - 1 - i] = value;
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#else
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data.data[i] = value;
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#endif
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}
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}
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else if (data.mode == IRMode::IR_MODE_UART)
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else if (data.mode == IRMode::IR_MODE_I2C && i2c != nullptr)
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{
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if (uart->available())
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{
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data.data[0] = uart->read();
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byte value = 0;
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delay(10);
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i2c->requestFrom(0x12, 1);
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if(i2c->available()) {
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value = i2c->read();
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// 根据 IR_COUNT 读取数据
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for(int i = 0; i < std::min<int>(data.count, IR_COUNT); i++) {
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// 读取传感器数据
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bool sensorValue = !((value >> (7-i)) & 0x01);
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// 根据 IR_REVERSE 判断是否需要反转电平
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#if IR_OUTPUT_REVERSE
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sensorValue = !sensorValue;
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#endif
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// 根据传感器排列方向存储数据
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#ifdef IR_DIRECTION_REVERSE
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data.data[std::min<int>(data.count, IR_COUNT) - 1 - i] = sensorValue;
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#else
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data.data[i] = sensorValue;
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#endif
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}
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} else {
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// 通信失败时清零数据
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memset(data.data, 0, IR_COUNT);
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}
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}
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}
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@ -8,4 +8,10 @@ void Mode::processDeviceMode()
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{
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TrackingController::update();
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}
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if (lastMode != mode)
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{
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lastMode = mode;
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MotorController::motorXYRControl(0, 0, 0);
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Serial.println("Mode changed to: " + String(mode));
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}
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}
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@ -176,34 +176,26 @@ void MotorController::motorXYRControl(int8_t x, int8_t y, int8_t r)
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motorControl('D', speedD);
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}
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void MotorController::rotate(RotateDirection direction, uint8_t speed)
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{
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motorControl('A', direction == ROTATE_CLOCKWISE ? speed : -speed);
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motorControl('B', direction == ROTATE_CLOCKWISE ? speed : -speed);
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motorControl('C', direction == ROTATE_CLOCKWISE ? -speed : speed);
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motorControl('D', direction == ROTATE_CLOCKWISE ? -speed : speed);
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}
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MotorStatus MotorController::getMotorStatus(char motor)
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{
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switch (motor)
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{
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case 'A':
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return {
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digitalRead(motorA.pin.in1),
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digitalRead(motorA.pin.in2),
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motorA.pwm,
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};
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return motorA;
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case 'B':
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return {
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digitalRead(motorB.pin.in1),
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digitalRead(motorB.pin.in2),
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motorB.pwm,
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};
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return motorB;
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case 'C':
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return {
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digitalRead(motorC.pin.in1),
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digitalRead(motorC.pin.in2),
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motorC.pwm,
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};
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return motorC;
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case 'D':
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return {
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digitalRead(motorD.pin.in1),
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digitalRead(motorD.pin.in2),
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motorD.pwm,
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};
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return motorD;
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default:
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return {false, false, 0};
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}
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@ -86,3 +86,38 @@ String Storage::getName()
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return name;
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}
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void Storage::setTrackingParams(uint8_t baseSpeed, uint8_t turnSpeed, uint8_t rotateSensitive)
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{
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if (!isMounted)
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return;
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File file = SPIFFS.open("/tracking.txt", "w");
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file.println(baseSpeed);
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file.println(turnSpeed);
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file.println(rotateSensitive);
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file.close();
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}
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void Storage::getTrackingParams(uint8_t &baseSpeed, uint8_t &turnSpeed, uint8_t &rotateSensitive)
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{
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if (!isMounted) {
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baseSpeed = 50;
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turnSpeed = 50;
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rotateSensitive = 3;
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return;
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}
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File file = SPIFFS.open("/tracking.txt", "r");
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if (!file) {
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baseSpeed = 50;
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turnSpeed = 50;
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rotateSensitive = 3;
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return;
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}
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baseSpeed = file.readStringUntil('\n').toInt();
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turnSpeed = file.readStringUntil('\n').toInt();
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rotateSensitive = file.readStringUntil('\n').toInt();
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file.close();
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}
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198
src/tracking.cpp
198
src/tracking.cpp
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@ -1,17 +1,36 @@
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#include "tracking.h"
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uint8_t TrackingController::baseSpeed = 10; // 默认速度50%
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uint8_t TrackingController::turnSpeed = 10; // 默认转弯速度30%
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uint8_t TrackingController::baseSpeed = 50;
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uint8_t TrackingController::turnSpeed = 50;
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uint8_t TrackingController::rotateSensitive = 3;
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float TrackingController::lastOffset = 0;
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bool TrackingController::isSearching = false;
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unsigned long TrackingController::allHighStartTime = 0;
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bool TrackingController::isAllHighState = false;
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void TrackingController::init()
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{
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Serial.println("Tracking Init");
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// 从存储中读取参数
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Storage::getTrackingParams(baseSpeed, turnSpeed, rotateSensitive);
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}
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void TrackingController::setSpeed(uint8_t base, uint8_t turn)
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{
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baseSpeed = base;
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turnSpeed = turn;
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// 保存参数到存储
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Storage::setTrackingParams(baseSpeed, turnSpeed, rotateSensitive);
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}
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|
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void TrackingController::setRotateSensitive(uint8_t sensitive)
|
||||
{
|
||||
rotateSensitive = sensitive;
|
||||
|
||||
// 保存参数到存储
|
||||
Storage::setTrackingParams(baseSpeed, turnSpeed, rotateSensitive);
|
||||
}
|
||||
|
||||
void TrackingController::update()
|
||||
|
|
@ -21,66 +40,169 @@ void TrackingController::update()
|
|||
const IRData &irData = IR::data;
|
||||
float offset = calculateOffset(irData);
|
||||
|
||||
Serial.print("Offset: ");
|
||||
Serial.println(offset);
|
||||
|
||||
// 检查是否丢线
|
||||
if (offset == LOST_LINE)
|
||||
{ // 需要定义 LOST_LINE 常量
|
||||
// 丢线时停止移动
|
||||
Serial.println("Lost line!");
|
||||
MotorController::motorXYRControl(0, 0, 0);
|
||||
{
|
||||
// 如果是因为全高超时导致的停止
|
||||
if (isAllHighState) {
|
||||
Serial.println("Vehicle likely lifted, stopping all motors");
|
||||
MotorController::motorXYRControl(0, 0, 0);
|
||||
return;
|
||||
}
|
||||
|
||||
// 正常丢线处理逻辑
|
||||
|
||||
isSearching = true;
|
||||
MotorController::rotate(lastOffset < 0 ? ROTATE_CLOCKWISE : ROTATE_ANTICLOCKWISE, baseSpeed * rotateSensitive);
|
||||
return;
|
||||
}
|
||||
|
||||
// 正常巡线控制
|
||||
float correction = PIDController::update(0, offset);
|
||||
MotorController::motorXYRControl(0, baseSpeed, -correction);
|
||||
// 如果之前在搜索模式，现在找到线了，打印日志
|
||||
if (isSearching) {
|
||||
Serial.println("Line found!");
|
||||
isSearching = false;
|
||||
}
|
||||
|
||||
// 添加防抖：如果偏移量很小，认为是直线
|
||||
if (abs(offset) < 0.2) {
|
||||
offset = 0;
|
||||
}
|
||||
|
||||
// 更新最后的偏移量，用于丢线时的方向判断
|
||||
lastOffset = offset;
|
||||
|
||||
// 直接使用偏移量控制转向，降低灵敏度
|
||||
float correction = offset * 30.0f; // 降低转向系数
|
||||
|
||||
// 调整速度控制逻辑
|
||||
float speedFactor;
|
||||
if (abs(offset) > 1.5) {
|
||||
// 大转弯时的速度因子
|
||||
speedFactor = 0.6;
|
||||
} else if (abs(offset) > 0.5) {
|
||||
// 小转弯时的速度因子
|
||||
speedFactor = 0.8;
|
||||
} else {
|
||||
// 直线时全速
|
||||
speedFactor = 1.0;
|
||||
}
|
||||
|
||||
float currentSpeed = baseSpeed * speedFactor;
|
||||
|
||||
// 调试信息
|
||||
Serial.print("Offset: "); Serial.print(offset);
|
||||
Serial.print(" Correction: "); Serial.print(correction);
|
||||
Serial.print(" Speed: "); Serial.println(currentSpeed);
|
||||
|
||||
// 直接控制电机
|
||||
MotorController::motorXYRControl(0, currentSpeed, -correction);
|
||||
}
|
||||
|
||||
// 计算偏移量，返回范围 [-2, 2]
|
||||
float TrackingController::calculateOffset(const IRData &irData)
|
||||
{
|
||||
float offset = 0;
|
||||
int activeCount = 0;
|
||||
bool allHigh = true;
|
||||
bool allLow = true;
|
||||
|
||||
Serial.print("IR Data: ");
|
||||
for (int i = 0; i < irData.length; i++) {
|
||||
for (int i = 0; i < IR_COUNT; i++)
|
||||
{
|
||||
Serial.print(irData.data[i]);
|
||||
Serial.print(" ");
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
// 检查是否所有传感器都是高电平或低电平
|
||||
for (int i = 0; i < irData.length; i++) {
|
||||
if (irData.data[i]) {
|
||||
allLow = false;
|
||||
} else {
|
||||
allHigh = false;
|
||||
}
|
||||
}
|
||||
|
||||
// 如果所有传感器都是高电平或低电平，说明不在线上
|
||||
if (allHigh || allLow) {
|
||||
return LOST_LINE;
|
||||
}
|
||||
|
||||
// 计算加权平均偏移
|
||||
for (int i = 0; i < irData.length; i++)
|
||||
for (int i = 0; i < IR_COUNT; i++)
|
||||
{
|
||||
if (irData.data[i])
|
||||
{
|
||||
// 将传感器位置映射到 [-2, 2] 范围
|
||||
offset += (i - (irData.length - 1) / 2.0f) * (4.0f / (irData.length - 1));
|
||||
activeCount++;
|
||||
if (irData.data[i]) allLow = false;
|
||||
else allHigh = false;
|
||||
}
|
||||
|
||||
// 全高状态处理
|
||||
if (allHigh) {
|
||||
// 如果刚进入全高状态
|
||||
if (!isAllHighState) {
|
||||
isAllHighState = true;
|
||||
allHighStartTime = millis();
|
||||
Serial.println("All sensors high, continue moving forward");
|
||||
return 0; // 返回0表示直行
|
||||
}
|
||||
|
||||
// 检查是否超过超时时间
|
||||
if (millis() - allHighStartTime >= ALL_HIGH_TIMEOUT) {
|
||||
Serial.println("All sensors high for too long, stopping (possibly lifted)");
|
||||
return LOST_LINE; // 触发停止
|
||||
}
|
||||
|
||||
return 0; // 继续直行
|
||||
}
|
||||
|
||||
if (isAllHighState) {
|
||||
isAllHighState = false;
|
||||
}
|
||||
|
||||
// 全低说明全离线
|
||||
if (allLow)
|
||||
return LOST_LINE;
|
||||
|
||||
// 寻找最长的连续激活区域
|
||||
int maxConsecutiveCount = 0;
|
||||
int maxConsecutiveStart = -1;
|
||||
int currentConsecutiveCount = 0;
|
||||
int currentConsecutiveStart = -1;
|
||||
|
||||
for (int i = 0; i < IR_COUNT; i++) {
|
||||
if (irData.data[i]) {
|
||||
if (currentConsecutiveCount == 0) {
|
||||
currentConsecutiveStart = i;
|
||||
}
|
||||
currentConsecutiveCount++;
|
||||
|
||||
if (currentConsecutiveCount > maxConsecutiveCount) {
|
||||
maxConsecutiveCount = currentConsecutiveCount;
|
||||
maxConsecutiveStart = currentConsecutiveStart;
|
||||
}
|
||||
} else {
|
||||
currentConsecutiveCount = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 如果有传感器检测到线，返回平均偏移
|
||||
if (activeCount > 0)
|
||||
return offset / activeCount;
|
||||
// 如果找到连续区域
|
||||
if (maxConsecutiveCount > 0) {
|
||||
// 计算连续区域的中心位置
|
||||
float centerPos = maxConsecutiveStart + (maxConsecutiveCount - 1) / 2.0f;
|
||||
// 将中心位置转换为偏移量
|
||||
offset = (centerPos - (IR_COUNT - 1) / 2.0f) * (4.0f / (IR_COUNT - 1));
|
||||
|
||||
return LOST_LINE;
|
||||
// 根据连续激活的数量调整权重
|
||||
float weight = 1.0;
|
||||
if (maxConsecutiveCount == 2) {
|
||||
weight = 1.2; // 小幅转弯
|
||||
} else if (maxConsecutiveCount >= 3) {
|
||||
weight = 1.5; // 大幅转弯
|
||||
}
|
||||
|
||||
offset *= weight;
|
||||
|
||||
Serial.print("Center at sensor: "); Serial.print(centerPos);
|
||||
Serial.print(" Consecutive count: "); Serial.println(maxConsecutiveCount);
|
||||
} else {
|
||||
// 如果没有找到连续区域，使用所有激活点的加权平均
|
||||
int activeCount = 0;
|
||||
for (int i = 0; i < IR_COUNT; i++) {
|
||||
if (irData.data[i]) {
|
||||
float positionOffset = (i - (IR_COUNT - 1) / 2.0f) * (4.0f / (IR_COUNT - 1));
|
||||
offset += positionOffset;
|
||||
activeCount++;
|
||||
}
|
||||
}
|
||||
if (activeCount > 0) {
|
||||
offset /= activeCount;
|
||||
}
|
||||
}
|
||||
|
||||
lastOffset = offset;
|
||||
return offset;
|
||||
}
|
||||
|
|
@ -78,6 +78,14 @@ void handleSerialPacket(uint8_t *packet, int length, BLECharacteristic &characte
|
|||
Handlers::setPID(characteristic, packet);
|
||||
break;
|
||||
|
||||
case CMD_SET_TRACKING_SENSITIVE:
|
||||
Handlers::setTrackingSensitive(characteristic, packet);
|
||||
break;
|
||||
|
||||
case CMD_SET_TRACKING_SPEED:
|
||||
Handlers::setTrackingSpeed(characteristic, packet);
|
||||
break;
|
||||
|
||||
case CMD_MOTOR_MOVE_CONTROL:
|
||||
Handlers::motorMoveControl(characteristic, packet);
|
||||
break;
|
||||
|
|
@ -132,9 +140,9 @@ void sendStatus()
|
|||
buffer[bufferIndex++] = MotorController::getMotorStatus('C').pwm;
|
||||
buffer[bufferIndex++] = (MotorController::getMotorStatus('D').in2 << 1) | MotorController::getMotorStatus('D').in1;
|
||||
buffer[bufferIndex++] = MotorController::getMotorStatus('D').pwm;
|
||||
buffer[bufferIndex++] = IR::data.length;
|
||||
buffer[bufferIndex++] = IR_COUNT;
|
||||
uint16_t irData = 0;
|
||||
for (uint8_t i = 0; i < IR::data.length; i++)
|
||||
for (uint8_t i = 0; i < IR_COUNT; i++)
|
||||
{
|
||||
irData |= (IR::data.data[i] << i);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue