TuxMonkey/bf_original_balance_chassis
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增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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NeoZng
2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
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15
application/chassis/chassis.c
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@@ -22,7 +22,6 @@
#include "arm_math.h"
/* 根据robot_def.h中的macro自动计算的参数 */
#define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f)
#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f)
@@ -37,10 +36,10 @@ IMU_Data_t *Chassis_IMU_data;
#endif // CHASSIS_BOARD
static referee_info_t *referee_data; // 裁判系统的数据
// static SuperCAP* cap; 尚未增加超级电容
static dji_motor_instance *motor_lf; // left right forward back
static dji_motor_instance *motor_rf;
static dji_motor_instance *motor_lb;
static dji_motor_instance *motor_rb;
static DJIMotorInstance *motor_lf; // left right forward back
static DJIMotorInstance *motor_rf;
static DJIMotorInstance *motor_lb;
static DJIMotorInstance *motor_rb;
/* chassis 包含的信息交互模块和数据*/
static Publisher_t *chassis_pub;
@@ -170,8 +169,8 @@ static void MecanumCalculate()
{
vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
vt_lb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
vt_rb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
vt_lb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
vt_rb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
}
/**
@@ -249,7 +248,7 @@ void ChassisTask()
// 获取裁判系统数据
// 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0;
chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0;
// 当前只做了17mm的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
chassis_feedback_data.bullet_speed = referee_data->GameRobotStat.shooter_id1_17mm_speed_limit;
chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;