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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22
application/cmd/robot_cmd.c
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@@ -15,11 +15,11 @@
#ifndef ONE_BOARD
#include "can_comm.h"
static CANCommInstance *chasiss_can_comm; // 双板通信
#endif // !ONE_BOARD
#endif // !ONE_BOARD
static RC_ctrl_t *remote_control_data; // 遥控器数据,初始化时返回
static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
static Vision_Send_s vision_send_data; // 视觉发送数据
static RC_ctrl_t *remote_control_data; // 遥控器数据,初始化时返回
static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
static Vision_Send_s vision_send_data; // 视觉发送数据
static Publisher_t *gimbal_cmd_pub;
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
@@ -38,8 +38,8 @@ static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反
void GimbalCMDInit()
{
remote_control_data = RC_init(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器
vision_recv_data = VisionInit(&huart1); // 视觉通信串口
remote_control_data = RemoteControlInit(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器
vision_recv_data = VisionInit(&huart1); // 视觉通信串口
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
@@ -107,11 +107,11 @@ void GimbalCMDTask()
MouseKeySetMode();
// 设置视觉发送数据,work_mode在前一部分设置
vision_send_data.bullet_speed=chassis_fetch_data.bullet_speed;
vision_send_data.enemy_color=chassis_fetch_data.enemy_color;
vision_send_data.pitch=gimbal_fetch_data.gimbal_imu_data.Pitch;
vision_send_data.yaw=gimbal_fetch_data.gimbal_imu_data.Yaw;
vision_send_data.roll=gimbal_fetch_data.gimbal_imu_data.Roll;
vision_send_data.bullet_speed = chassis_fetch_data.bullet_speed;
vision_send_data.enemy_color = chassis_fetch_data.enemy_color;
vision_send_data.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
vision_send_data.yaw = gimbal_fetch_data.gimbal_imu_data.Yaw;
vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;
// 推送消息,双板通信,视觉通信等
// 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置