Falling_jasmine/ASER
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

1.0

Browse Source
This commit is contained in:
nitiantuhao
2026-04-03 13:46:45 +08:00
parent 1bd0a73a73
commit 7afa32f7dc
4 changed files with 180 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
App/nav/track_map.c
View File

@@ -2,27 +2,45 @@
* @file track_map.c
* @brief 赛道地图 — S 型遍历拓扑表
*
* S 型路径:
* C1(→) → 左转 → 连接 → 左转 → C2(←) → 右转 → 连接 → 右转 →
* C3(→) → 左转 → 连接 → 左转 → C4(←) → 右转 → 连接 → 右转 →
* C5(→) → 左转 → 连接 → 左转 → C6(←) → 左转 → 出场
* 正确的场地结构 (参见 Doc/map.md):
* - 垄沟沿 X 轴（横向）分布，长 220cm
* - 左右两端各有纵向端部通道，宽 40cm
* - 启动区在左下角，入口对齐左端通道
* - C1 最靠近入口(南侧)，C6 最远(北侧)
*
* S 型路径 (以"北=Y递减=地图上方"为参考):
* 入场→左端通道→右转入C1(→东)→右端到端→左转(朝北)
* →北行70cm→左转入C2(←西)→左端到端→右转(朝北)
* →北行70cm→右转入C3(→东)→...
* →C6(←西)→左端到端→左转(朝南)→南行出场
*
* entry_turn_dir: 从纵向通道(朝北)转入垄沟的方向
* exit_turn_dir: 从垄沟到端后转入纵向通道的方向
*/
#include "track_map.h"
/* =========================================================
* 硬编码 S 型遍历表
*
* 转向方向推导 (北=机器人沿纵向通道前进方向):
* C1: 左端通道朝北→右转→朝东入沟; 到右端→左转→朝北
* C2: 右端通道朝北→左转→朝西入沟; 到左端→右转→朝北
* C3: 左端通道朝北→右转→朝东入沟; 到右端→左转→朝北
* C4: 右端通道朝北→左转→朝西入沟; 到左端→右转→朝北
* C5: 左端通道朝北→右转→朝东入沟; 到右端→左转→朝北
* C6: 右端通道朝北→左转→朝西入沟; 到左端→左转→朝南(出场)
* ========================================================= */
static const TrackMap_t s_map = {
.corridors = {
/* id travel_dir exit_turn entry_turn is_last
* -- ---------- --------- ---------- ------- */
{ 0, TRAVEL_DIR_POSITIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, false }, /* C1: → 到右端后左转 */
{ 1, TRAVEL_DIR_NEGATIVE, TURN_DIR_RIGHT, TURN_DIR_RIGHT, false }, /* C2: ← 到左端后右转 */
{ 2, TRAVEL_DIR_POSITIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, false }, /* C3: → */
{ 3, TRAVEL_DIR_NEGATIVE, TURN_DIR_RIGHT, TURN_DIR_RIGHT, false }, /* C4: ← */
{ 4, TRAVEL_DIR_POSITIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, false }, /* C5: → */
{ 5, TRAVEL_DIR_NEGATIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, true }, /* C6: ← 最后一条, 左转出场 */
/* id travel_dir exit_turn entry_turn is_last
* -- ---------- --------- ---------- ------- */
{ 0, TRAVEL_DIR_EAST, TURN_DIR_LEFT, TURN_DIR_RIGHT, false }, /* C1: →东, 从左端右转入, 到右端左转出 */
{ 1, TRAVEL_DIR_WEST, TURN_DIR_RIGHT, TURN_DIR_LEFT, false }, /* C2: ←西, 从右端左转入, 到左端右转出 */
{ 2, TRAVEL_DIR_EAST, TURN_DIR_LEFT, TURN_DIR_RIGHT, false }, /* C3: →东 */
{ 3, TRAVEL_DIR_WEST, TURN_DIR_RIGHT, TURN_DIR_LEFT, false }, /* C4: ←西 */
{ 4, TRAVEL_DIR_EAST, TURN_DIR_LEFT, TURN_DIR_RIGHT, false }, /* C5: →东 */
{ 5, TRAVEL_DIR_WEST, TURN_DIR_LEFT, TURN_DIR_LEFT, true }, /* C6: ←西, 从右端左转入, 到左端左转出(朝南出场) */
},
.entry_corridor_id = 0,
.link_distance_m = TRACK_MAP_LINK_DISTANCE_M,