TuxMonkey/bf_original_balance_chassis
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修复了遥控器摇杆值解算错误的问题

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NeoZng
2022-12-09 14:21:31 +08:00
parent 9f09002235
commit 02b3af15c7
6 changed files with 28 additions and 34 deletions
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14
application/cmd/robot_cmd.c
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@@ -98,8 +98,8 @@ static void RemoteControlSet()
// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
if (switch_is_down(rc_data[TEMP].rc.s[1]) || vision_recv_data->target_state == NO_TARGET)
{ // 按照摇杆的输出大小进行角度增量,增益系数需调整
gimbal_cmd_send.yaw += 0.04f * (float)rc_data[TEMP].rc.joystick[2];
gimbal_cmd_send.pitch += 0.5f * (float)rc_data[TEMP].rc.joystick[3];
gimbal_cmd_send.yaw += 0.0015f * (float)rc_data[TEMP].rc.joystick[2];
gimbal_cmd_send.pitch += 0.0025f * (float)rc_data[TEMP].rc.joystick[3];
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
}
@@ -114,9 +114,9 @@ static void RemoteControlSet()
; // 弹舱舵机控制,待添加servo_motor模块,关闭
// 摩擦轮控制,后续可以根据左侧拨轮的值大小切换射频
if (rc_data[TEMP].rc.joystick[4] > 100)
shoot_cmd_send.shoot_mode = FRICTION_ON;
shoot_cmd_send.friction_mode = FRICTION_ON;
else
shoot_cmd_send.shoot_mode = FRICTION_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
// 拨弹控制,目前固定为连发
if (rc_data[TEMP].rc.joystick[4] > 500)
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
@@ -143,9 +143,9 @@ static void EmergencyHandler()
if (rc_data[TEMP].rc.joystick[4] > 300) // 还需添加重要应用和模块离线的判断
{
robot_state = ROBOT_STOP; // 遥控器左上侧拨轮打满,进入紧急停止模式
gimbal_cmd_send.gimbal_mode == GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode == CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode == SHOOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.load_mode = SHOOT_STOP;
return;
}
// if(rc_data[TEMP].rc.joystick[4]<-300 && 各个模块正常)