From 4ea2f46a102f4b1ef2b4ace9631ccd73feb2739c Mon Sep 17 00:00:00 2001
From: EN <none>
Date: Thu, 18 Jul 2024 08:40:50 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3Keil=E7=BC=96=E8=AF=91?=
 =?UTF-8?q?=E9=94=99=E8=AF=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/CAR.uvoptx         | 46 ++++++++++++++++++++++++--------------
 MDK-ARM/CAR.uvprojx        |  5 +++++
 Peripheral/Src/path_plan.c |  3 +++
 3 files changed, 37 insertions(+), 17 deletions(-)

diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx
index 9521874..a9256f0 100644
--- a/MDK-ARM/CAR.uvoptx
+++ b/MDK-ARM/CAR.uvoptx
@@ -384,7 +384,7 @@
       <GroupNumber>3</GroupNumber>
       <FileNumber>5</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/main.c</PathWithFileName>
@@ -575,6 +575,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\path_plan.c</PathWithFileName>
+      <FilenameWithoutPath>path_plan.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>21</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>..\Peripheral\Src\servo.c</PathWithFileName>
       <FilenameWithoutPath>servo.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -590,7 +602,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -602,7 +614,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -614,7 +626,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -626,7 +638,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -638,7 +650,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -650,7 +662,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -662,7 +674,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -674,7 +686,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -686,7 +698,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -698,7 +710,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -710,7 +722,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -722,7 +734,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -734,7 +746,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -746,7 +758,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -758,7 +770,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -778,7 +790,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx
index 78067dd..bf4b2c2 100644
--- a/MDK-ARM/CAR.uvprojx
+++ b/MDK-ARM/CAR.uvprojx
@@ -493,6 +493,11 @@
               <FileType>1</FileType>
               <FilePath>..\Peripheral\Src\motor.c</FilePath>
             </File>
+            <File>
+              <FileName>path_plan.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\path_plan.c</FilePath>
+            </File>
             <File>
               <FileName>servo.c</FileName>
               <FileType>1</FileType>
diff --git a/Peripheral/Src/path_plan.c b/Peripheral/Src/path_plan.c
index 1654ac2..9240296 100644
--- a/Peripheral/Src/path_plan.c
+++ b/Peripheral/Src/path_plan.c
@@ -2,10 +2,13 @@
 #include "path_plan.h"
 
 #include "stdio.h"
+#include "stdlib.h"
 
 // 全局路径规划器
 PathPlanner pathPlanner;
 
+void SetPath();
+
 // 初始化路径规划器
 void PathPlanner_Init()
 {