stM32f4小车行走距离和角度设置检测 案例代码学习02

void Distance_Check(void)
{
	s32 distance;
	distance=(s32)(CNT_10ms[0]+CNT_10ms[1]+CNT_10ms[2]+CNT_10ms[3]);
	car_distance+=distance;
	end_line_distance+=distance;
	set_go_step_distance+=distance;
	unloading_distance+=distance;
}
//设定车子行驶距离
void Set_Go_Step(float set_leg,float set_speed)
{
	Set_Go_Step_Pid_Parameter_Init(set_leg*pulse_per_millimeter,set_speed);//复位距离pid
	set_go_step_distance=0;
	set_go_step_flag=1;
}
u8 Check_Go_Step(float range)
{
	if(fabs(set_go_step_pid_point-set_go_step_distance)<range)
	{
		set_go_step_flag=0;
		car_speed_forward=0;
		return 1;
	} 
	return 0;
}
//设定车子旋转角度
void Set_Spin_Step(float set_angle,float set_speed)
{
	Set_Spin_Step_Pid_Parameter_Init(set_angle+yaw,set_speed);//复位距离pid
	set_spin_step_flag=1;
}
u8 Check_Spin_Step(float range)
{
	if(fabs(set_spin_step_pid_point-yaw)<range)
	{
		set_spin_step_flag=0;
		return 1;
	} 
	return 0;
}