From 16526a28fbd46c3db4086a21ad7044856ddea5db Mon Sep 17 00:00:00 2001
From: zhaohongqingyun <hongqingyun.zhao@gzdata.com.cn>
Date: Fri, 18 Apr 2025 20:51:35 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9make=E5=80=BC=E5=8C=B9?=
 =?UTF-8?q?=E9=85=8D=E8=A1=A8=E8=BF=B0?=
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---
 USER/main.c            | 32 +++++++++++++++++++-------------
 my_lib/roadway_check.h |  4 ++++
 2 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/USER/main.c b/USER/main.c
index a5a785d..f008c85 100644
--- a/USER/main.c
+++ b/USER/main.c
@@ -54,7 +54,7 @@ void Car_Thread(void)
 {
 	switch(make)
 	{
-		case 0xF6:
+		case CITY_PATROL_INSPECTION:
 		{	
 			Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8);	// LED显示 -> 计时模式开启
 			delay_ms(200);
@@ -189,22 +189,28 @@ void Car_Thread(void)
 			make = 0x00;
 			break;
 		}
-		case 0xA6:
+		case EXEC_DETECT_TASK:
 		{
 			Garage_Cont_Zigbee('A', 0);  //立体车库到达0层
+			//初始化计时器 _set_timer(SEG_TimOpen, 8);
 			Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8);	// LED显示 -> 计时模式开启
 			delay_ms(200);
 			Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8);	// LED显示 -> 计时模式开启
+			delay_ms(200);
+			//debug zigbee stop the car
 			delay_ms(10000);
-			Car_Track(Go_Speed);            //循迹
-			Car_Go(Go_Speed,Go_Temp);      //前进
-			delay_ms(500);
-			Tba_R_LED = 0;         //右转灯开
-			Car_R(wheel_Speed);		//右转
-			delay_ms(500);
-			Control(0,0);
-			Tba_R_LED = 1;       //右转灯关
-			delay_ms(500);
+			//
+			{
+				Car_Track(Go_Speed);            //循迹
+				Car_Go(Go_Speed,Go_Temp);      //前进
+				delay_ms(500);
+				Tba_R_LED = 0;         //右转灯开
+				Car_R(wheel_Speed);		//右转
+				delay_ms(500);
+				Control(0,0);
+				Tba_R_LED = 1;       //右转灯关
+				delay_ms(500);
+			}
 			 Ultrasonic_Ranging();           // 采集超声波测距距离
 			dis_size = dis;
 			TFT_Dis_Zigbee('A',dis_size);		// LED显示标志物发送测距信息
@@ -277,7 +283,7 @@ void KEY_Check(void)
         {
             LED1 = !LED1;
             while(!S1);
-						make=0xF6;
+						make=CITY_PATROL_INSPECTION;
 					YY_Play_Zigbee("开始城市巡检");
 					
 					
@@ -290,7 +296,7 @@ void KEY_Check(void)
         {
             LED2 = !LED2;
             while(!S2);
-						make = 0xA6;
+						make = EXEC_DETECT_TASK;
 					YY_Play_Zigbee("执行检测任务");
        }
     }
diff --git a/my_lib/roadway_check.h b/my_lib/roadway_check.h
index 362d572..84428e1 100644
--- a/my_lib/roadway_check.h
+++ b/my_lib/roadway_check.h
@@ -1,5 +1,9 @@
 #ifndef __ROADWAY_H
 #define __ROADWAY_H
+
+#define CITY_PATROL_INSPECTION 0xF6
+#define EXEC_DETECT_TASK 0xA6
+
 #include "stm32f4xx.h"
 
 void Roadway_Check(void);