斑马线: 3f去抖/-1衰减/3s停车/赛道外忽略/丢线忽略/reject日志; 起步弹射2x/0.7s; 斑马线后delay1.5s改foresee=35/5s; PWM构造先归零防瞬动

2026-06-29 18:38:14 +08:00
parent 4a38259d25
commit 2cab70791e
2 changed files with 82 additions and 11 deletions
@@ -7,6 +7,7 @@ MotorController::MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned
    : pwmController(pwmchip, pwmnum), directionGPIO(gpioNum)
 {
    pwmController.setPeriod(period_ns);
+    pwmController.setDutyCycle(0);               // 先归零再使能, 防止 sysfs 残留值导致电机瞬动
    directionGPIO.setDirection("out");
    pwmController.enable();
 }