speed20: Z_COOLDOWN基础速度16+保留原有降速13

2026-07-06 17:21:33 +08:00
parent 08b00d6c97
commit afc839e8cb
1 changed files with 4 additions and 1 deletions
@@ -1035,7 +1035,10 @@ static void motor_update(bool zebra_block, bool tl_block)
    if (boost_factor() > 1.0) {
        spd = 26.0;                           // 起步弹射
    } else if (g_zstate == Z_COOLDOWN) {
-        spd = 16.0;                           // 冷却期定速
+        spd = 16.0;                           // 冷却期基础速度
+        time_t elapsed = time(nullptr) - g_ztime;
+        if (elapsed >= 3.3 && elapsed < 5)
+            spd = std::min(spd, 13.0);        // 3.3~5s 降速
    } else {
        spd = target_speed;                   // 正常行驶
    }