YuanHongbin/Acc_Support_29V_HV2.x
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2025-10-13

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下班备份
This commit is contained in:
DESKTOP-KQHDCM4\97555
2025-10-13 19:09:29 +08:00
parent a923808ede
commit 1de51f1380
3 changed files with 32 additions and 23 deletions
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Project/HC32F460/source/User/Src/main.c
+14 -14
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@@ -228,10 +228,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
if((abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT))
{
BDC_UP();
App.UpFlag = true;
BDC_DOWN();
App.UpFlag = false;
App.StopFlag = false;
App.DownFlag = false;
App.DownFlag = true;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
@@ -251,10 +251,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
if((abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT))
{
BDC_DOWN();
App.DownFlag = true;
BDC_UP();
App.UpFlag = true;
App.DownFlag = false;
App.StopFlag = false;
App.UpFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
@@ -278,10 +278,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
if((abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT))
{
BDC_UP();
App.UpFlag = true;
BDC_DOWN();
App.UpFlag = false;
App.StopFlag = false;
App.DownFlag = false;
App.DownFlag = true;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
@@ -302,17 +302,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
if((abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT))
{
BDC_DOWN();
App.DownFlag = true;
BDC_UP();
App.DownFlag = false;
App.StopFlag = false;
App.UpFlag = false;
App.UpFlag = true;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
}
}
}
else if(App.DownFlag == true)
else if(App.UpFlag == true)
{
if(App.LeftRunFalg == true)
{
@@ -359,7 +359,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if(App.UpFlag == true)
else if(App.DownFlag == true)
{
if(App.LeftRunFalg == true)
{