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@@ -200,7 +200,10 @@ MC_AssistRunMode_Struct_t MC_JudgeAsistRunMode_Process(MC_GasMode_Struct_t GasMo
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//进入指拨模式
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if((GasSensorData > 200) && (GasMode_Param.Mode != (uint8_t)MC_SUPPORT_DISABLE)) //转把启动电压 = 零点电压 + (TH / 4096 * 3.3) / 10 * 15.6，5V转把0.3V启动
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{
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- MC_AssistRunMode_Result = MC_AssistRunMode_GAS;
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+ if(GasMode_Param.Mode == (0x1F << 3)) //高5位都为1时，指拨进入Walk模式
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+ MC_AssistRunMode_Result = MC_AssistRunMode_WALK;
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+ else
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+ MC_AssistRunMode_Result = MC_AssistRunMode_GAS;
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}
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//退出指拨模式
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else if(GasSensorData < 100)
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@@ -340,9 +343,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_GasSpeed_Process(MC_GasMode_Struct_t GasMo
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Tmp = (Tmp * Tmp) / 2048; //指拨值改为抛物线，低速控制行程变大
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/*电机转速设定，根据指拨大小、车轮限速值和速比，换算，以0xAA >> 3*为中心根据整车限速对称偏移，调整上限±15km/h*，转把限速偏移为0x31时进入转把推行，限速6km/h*/
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- if(MC_GasMode_Param.Mode_bit.SpeedLimit == 0x1F)
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- SpeedLimit = MC_ConfigParam1.WalkMode_SpeedLimit / 10;
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- else if(MC_GasMode_Param.Mode_bit.SpeedLimit <= 5)
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+ if(MC_GasMode_Param.Mode_bit.SpeedLimit <= 5)
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SpeedLimit = ((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj + MC_GasMode_Param.Mode_bit.SpeedLimit + 0x1F - (0xAA >> 3)) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
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else
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SpeedLimit = ((MC_ConfigParam1.SpeedLimit + (int8_t)MC_ConfigParam2.SpeedLimitAdj + MC_GasMode_Param.Mode_bit.SpeedLimit - (0xAA >> 3)) * MC_LimitSpeed_Cal_K_BySOC((((MC_ConfigParam1.SpeedLimit >> 7) & 0x01) == 0 ? ENABLE : DISABLE), MC_RunInfo.SOC)) >> 10;
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Dail