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fix line sensor

This commit is contained in:
xypoon 2023-11-20 10:39:06 +08:00
parent 0e3e481a2c
commit 16ea617052
2 changed files with 4 additions and 4 deletions
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2
frtos/line_sensor/line_sensor_init.h
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@ -31,7 +31,7 @@ SemaphoreHandle_t g_left_sensor_sem = NULL;
static inline void static inline void
line_sensor_init(car_struct_t *p_car_struct) line_sensor_init(car_struct_t *p_car_struct)
{ {
p_car_struct->obs->line_detected = false; p_car_struct->obs->left_sensor_detected, p_car_struct->obs->left_sensor_detected = false;
g_left_sensor_sem = xSemaphoreCreateBinary(); g_left_sensor_sem = xSemaphoreCreateBinary();

6
frtos/rtos_car.c
View File

@ -8,7 +8,7 @@ bool
check_collision(void *params) check_collision(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
return ((car_struct->obs->left_line_detected << 1) | (car_struct->obs->right_line_detected)) return ((car_struct->obs->left_sensor_detected << 1) | (car_struct->obs->right_sensor_detected))
|| car_struct->obs->ultrasonic_detected; || car_struct->obs->ultrasonic_detected;
} }
@ -17,8 +17,8 @@ check_line_touch(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
return (car_struct->obs->left_line_detected << 1) | (car_struct->obs->right_line_detected); return (car_struct->obs->left_sensor_detected << 1) | (car_struct->obs->right_sensor_detected);
}
void void
motor_control_task(void *params) motor_control_task(void *params)
{ {