From 105824c0c3c0deedadf3a9fea30a715bfb866a2f Mon Sep 17 00:00:00 2001
From: YuanHongbin <975559679@qq.com>
Date: Fri, 19 Sep 2025 17:19:17 +0800
Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E5=AE=8C=E5=96=84=E4=BA=86=E6=8E=A7?=
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Content-Transfer-Encoding: 8bit

---
 .../source/Module/dc_motor/dc_motor.h         |  2 +-
 Project/HC32F460/source/User/Inc/main.h       |  5 +-
 Project/HC32F460/source/User/Src/main.c       | 51 +++++++++----------
 3 files changed, 28 insertions(+), 30 deletions(-)

diff --git a/Project/HC32F460/source/Module/dc_motor/dc_motor.h b/Project/HC32F460/source/Module/dc_motor/dc_motor.h
index 6db259e..d7e319c 100644
--- a/Project/HC32F460/source/Module/dc_motor/dc_motor.h
+++ b/Project/HC32F460/source/Module/dc_motor/dc_motor.h
@@ -14,7 +14,7 @@
 #define MAX_SPEED            480     		// 最大速度(PWM占空比)
 #define ACCEL_STEP           10				// 加速步进值
 #define DECEL_STEP           10				// 减速步进值
-#define ACCEL_INTERVAL       2				// 加减速间隔(ms)
+#define ACCEL_INTERVAL       10				// 加减速间隔(ms)
 
 
 
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 7fac0b6..0ce5148 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -7,12 +7,11 @@
 #define 	USE_FILE_SYSTEM									1
 #define	SDCARD_BLOCK_MAX								(10000)
 
-
 #define 	OSC_CNT    			40
-#define 	SLOPE_CNT			  20
+#define 	SLOPE_CNT			  30
 
 #define 	STOP_TIME_MS		500
-#define 	RUN_TIME_MS			200
+#define 	RUN_TIME_MS			0
 
 #define	BDC_STOP()			Motor_Control(MOTOR_CMD_STOP)
 #define 	BDC_UP()				Motor_Control(MOTOR_CMD_FORWARD)
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index b18c1ba..1669862 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -78,63 +78,63 @@ void GradeControl(ControlLevel_m level)
 {
 	switch(level){
 		case LEVEL_1:{
-			App.ADTrack.Slope_VPT = 500;
+			App.ADTrack.Slope_VPT = 1000;
 			App.ADTrack.LeftUpVPT = 10000;
 			App.ADTrack.LeftLowVPT = 10000;
 			App.ADTrack.RightUpVPT = 10000;
 			App.ADTrack.RightLowVPT = 10000;	
-			App.ADTrack.LeftUpShieldVPT = 4000;
-			App.ADTrack.LeftLowShieldVPT = 4000;
-			App.ADTrack.RightUpShieldVPT = 4000;
-			App.ADTrack.RightLowShieldVPT = 4000;
+			App.ADTrack.LeftUpShieldVPT = 5000;
+			App.ADTrack.LeftLowShieldVPT = 5000;
+			App.ADTrack.RightUpShieldVPT = 5000;
+			App.ADTrack.RightLowShieldVPT = 5000;
 		break;}
 		
 		case LEVEL_2:{
-			App.ADTrack.Slope_VPT = 500;
+			App.ADTrack.Slope_VPT = 1000;
 			App.ADTrack.LeftUpVPT = 20000;
 			App.ADTrack.LeftLowVPT = 20000;
 			App.ADTrack.RightUpVPT = 20000;
 			App.ADTrack.RightLowVPT = 20000;	
-			App.ADTrack.LeftUpShieldVPT = 4000;
-			App.ADTrack.LeftLowShieldVPT = 4000;
-			App.ADTrack.RightUpShieldVPT = 4000;
-			App.ADTrack.RightLowShieldVPT = 4000;
+			App.ADTrack.LeftUpShieldVPT = 5000;
+			App.ADTrack.LeftLowShieldVPT = 5000;
+			App.ADTrack.RightUpShieldVPT = 5000;
+			App.ADTrack.RightLowShieldVPT = 5000;
 		break;}
 		
 		case LEVEL_3:{
-			App.ADTrack.Slope_VPT = 500;
+			App.ADTrack.Slope_VPT = 1000;
 			App.ADTrack.LeftUpVPT = 30000;
 			App.ADTrack.LeftLowVPT = 30000;
 			App.ADTrack.RightUpVPT = 30000;
 			App.ADTrack.RightLowVPT = 30000;	
-			App.ADTrack.LeftUpShieldVPT = 4000;
-			App.ADTrack.LeftLowShieldVPT = 4000;
-			App.ADTrack.RightUpShieldVPT = 4000;
-			App.ADTrack.RightLowShieldVPT = 4000;
+			App.ADTrack.LeftUpShieldVPT = 5000;
+			App.ADTrack.LeftLowShieldVPT = 5000;
+			App.ADTrack.RightUpShieldVPT = 5000;
+			App.ADTrack.RightLowShieldVPT = 5000;
 		break;}
 		
 		case LEVEL_4:{
-			App.ADTrack.Slope_VPT = 500;
+			App.ADTrack.Slope_VPT = 1000;
 			App.ADTrack.LeftUpVPT = 40000;
 			App.ADTrack.LeftLowVPT = 40000;
 			App.ADTrack.RightUpVPT = 40000;
 			App.ADTrack.RightLowVPT = 40000;	
-			App.ADTrack.LeftUpShieldVPT = 4000;
-			App.ADTrack.LeftLowShieldVPT = 4000;
-			App.ADTrack.RightUpShieldVPT = 4000;
-			App.ADTrack.RightLowShieldVPT = 4000;
+			App.ADTrack.LeftUpShieldVPT = 5000;
+			App.ADTrack.LeftLowShieldVPT = 5000;
+			App.ADTrack.RightUpShieldVPT = 5000;
+			App.ADTrack.RightLowShieldVPT = 5000;
 		break;}
 		
 		case LEVEL_5:{
-			App.ADTrack.Slope_VPT = 500;
+			App.ADTrack.Slope_VPT = 1000;
 			App.ADTrack.LeftUpVPT = 50000;
 			App.ADTrack.LeftLowVPT = 50000;
 			App.ADTrack.RightUpVPT = 50000;
 			App.ADTrack.RightLowVPT = 50000;	
-			App.ADTrack.LeftUpShieldVPT = 4000;
-			App.ADTrack.LeftLowShieldVPT = 4000;
-			App.ADTrack.RightUpShieldVPT = 4000;
-			App.ADTrack.RightLowShieldVPT = 4000;
+			App.ADTrack.LeftUpShieldVPT = 5000;
+			App.ADTrack.LeftLowShieldVPT = 5000;
+			App.ADTrack.RightUpShieldVPT = 5000;
+			App.ADTrack.RightLowShieldVPT = 5000;
 		break;}
 	}
 }
@@ -655,7 +655,6 @@ static void App1mSRoutine(void)
 		App.StopCollDelay1mSCnt--;
 	if(App.RunCollDelay1mSCnt > 0)
 		App.RunCollDelay1mSCnt--;
-	
 	if(App.EvenRunning == true)
 		App.EvenRunDelay1mSCnt++;