lihang/Car
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merge into main #1

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20231088 merged 2 commits from dev_nidie into branch1 2025-04-18 12:55:13 +00:00
Conversation 0 Commits 2 Files Changed 3 +25 -13
3 changed files with 25 additions and 13 deletions
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2
.gitignore vendored Normal file
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@ -0,0 +1,2 @@
.vscode/
*.o

14
USER/main.c
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@ -54,7 +54,7 @@ void Car_Thread(void)
{ {
switch(make) switch(make)
{ {
case 0xF6: case CITY_PATROL_INSPECTION:
{ {
Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启 Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启
delay_ms(200); delay_ms(200);
@ -189,13 +189,18 @@ void Car_Thread(void)
make = 0x00; make = 0x00;
break; break;
} }
case 0xA6: case EXEC_DETECT_TASK:
{ {
Garage_Cont_Zigbee('A', 0); //立体车库到达0层 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 Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启
delay_ms(200); delay_ms(200);
Send_ZigbeeData_To_Fifo(SEG_TimOpen, 8); // LED显示 -> 计时模式开启 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); delay_ms(10000);
//
{
Car_Track(Go_Speed); //循迹 Car_Track(Go_Speed); //循迹
Car_Go(Go_Speed,Go_Temp); //前进 Car_Go(Go_Speed,Go_Temp); //前进
delay_ms(500); delay_ms(500);
@ -205,6 +210,7 @@ void Car_Thread(void)
Control(0,0); Control(0,0);
Tba_R_LED = 1; //右转灯关 Tba_R_LED = 1; //右转灯关
delay_ms(500); delay_ms(500);
}
Ultrasonic_Ranging(); // 采集超声波测距距离 Ultrasonic_Ranging(); // 采集超声波测距距离
dis_size = dis; dis_size = dis;
TFT_Dis_Zigbee('A',dis_size); // LED显示标志物发送测距信息 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; LED1 = !LED1;
while(!S1); while(!S1);
make=0xF6; make=CITY_PATROL_INSPECTION;
YY_Play_Zigbee("开始城市巡检"); YY_Play_Zigbee("开始城市巡检");
@ -290,7 +296,7 @@ void KEY_Check(void)
{ {
LED2 = !LED2; LED2 = !LED2;
while(!S2); while(!S2);
make = 0xA6; make = EXEC_DETECT_TASK;
YY_Play_Zigbee("执行检测任务"); YY_Play_Zigbee("执行检测任务");
} }
} }

4
my_lib/roadway_check.h
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@ -1,5 +1,9 @@
#ifndef __ROADWAY_H #ifndef __ROADWAY_H
#define __ROADWAY_H #define __ROADWAY_H
#define CITY_PATROL_INSPECTION 0xF6
#define EXEC_DETECT_TASK 0xA6
#include "stm32f4xx.h" #include "stm32f4xx.h"
void Roadway_Check(void); void Roadway_Check(void);