TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

绘制基础UI

Browse Source
This commit is contained in:
kai
2024-05-24 20:49:07 +08:00
parent 20546dd2d7
commit 03ae284fca
6 changed files with 138 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
application/cmd/robot_cmd.c
View File

@@ -249,6 +249,16 @@ static void MouseKeySet()
else
shoot_cmd_send.load_mode = LOAD_STOP;
switch (rc_data[TEMP].key[KEY_PRESS].z) // Z键刷新UI
{
case 0:
chassis_cmd_send.ui_mode = UI_KEEP;
break;
default:
chassis_cmd_send.ui_mode = UI_REFRESH;
break;
}
if (rc_data[TEMP].mouse.press_r)
{
gimbal_cmd_send.yaw = (vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw);
@@ -330,6 +340,9 @@ void RobotCMDTask()
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
chassis_cmd_send.direction = chassis_direction;
// UI数据
chassis_cmd_send.friction_mode = shoot_cmd_send.friction_mode;
chassis_cmd_send.loader_mode = shoot_cmd_send.load_mode;
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);