From 3199bd2b4cee2747a31f1874a532ec0640a6742f Mon Sep 17 00:00:00 2001
From: myperworld <myperworld@126.com>
Date: Sun, 8 Feb 2026 20:41:58 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8DV1.4bug?=
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---
 .../platformio/src/main.cpp                   | 25 +++++++------------
 1 file changed, 9 insertions(+), 16 deletions(-)

diff --git a/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp
index c1c3082..ed554e5 100644
--- a/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp	
+++ b/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp	
@@ -1295,18 +1295,10 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) {
   last_btnB = remoteData.btnB; 
 
   // 向前跳跃（非踢球模式）
-  if (remoteData.btnY && !last_btnY  && robot_enabled && !trace_mode) { 
+  if (remoteData.btnY && !last_btnY  && robot_enabled ) { 
     wrobot.jump = 1;
     forward_jump_flag = 1;
   }
-  // 追逐并转向踢会球模式    @@@@@@
-  if (remoteData.btnY && !last_btnY  && robot_enabled && trace_mode) { 
-    if(kick_mode != "kick_run_mode"){
-      SetKickMode("kick_run_mode");
-    }else if(kick_mode == "kick_run_mode"){
-      SetKickMode("kick_place_mode");
-    }
-  }
   last_btnY = remoteData.btnY; 
 
   // 向后跳跃（非踢球模式）
@@ -1347,11 +1339,12 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) {
 
   //  原地踢球模式
   if (remoteData.btnSelect && !last_btnSelect && !remoteData.btnShare) { 
-    trace_mode = !trace_mode;
-    if(trace_mode){
-      SetKickMode("kick_place_mode"); // 原地踢球模式
+    if(!trace_mode){
+      SetKickMode("kick_place_mode"); // 守门模式
+      Serial.println("守门模式XBOX");
     }else {
       cancel_kick_mode();
+      Serial.println("cancel_kick_mode");
     }
   }
   
@@ -1633,7 +1626,7 @@ void kick_ball_main(int dx, int dy) {
       ready_kick_ball(); // 准备踢球
     }
   }
-  
+
   // 运动踢球模式
   if(kick_mode == "kick_run_mode"){
     cam_aim_ball(dy); // 相机瞄准
@@ -1824,8 +1817,8 @@ void cancel_kick_mode(){
   trace_mode = false;
   trace_ob_flag = false;
   chased_flag = false;
+  kick_mode = "";
 
-  SetKickMode("");
   dx_to_joyx = 9999;
   dy_to_joyy = 9999;
   yaw_to_joyx = 9999; 
@@ -1847,10 +1840,10 @@ void SetKickMode(String mode){
   yaw_to_joyx = 9999;
 
   // 进入kick_run_mode时，记录当前偏航角作为基准0度
-  if(mode == "kick_run_mode"){
+  // if(mode == "kick_run_mode"){
     kick_yaw_zero = mpu6050.getAngleZ(); // 读取当前偏航角（Z轴角度）作为基准
     pid_yaw_align.error_prev = 0.0f; // 重置偏航对齐PID状态
-  }
+  // }
 }
 
 void setRobotMode(int mode_id){