TuxMonkey/bf_original_balance_chassis
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修复电机丢失保护

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This commit is contained in:
kai
2024-05-24 18:39:06 +08:00
parent 613510642c
commit a7dc01af5c
4 changed files with 11 additions and 11 deletions
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14
application/chassis/balance.c
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@@ -229,13 +229,13 @@ static uint8_t DrivenMotorIsLost()
/* 切换底盘遥控器控制和云台双板控制 */
static void ControlSwitch()
{
// // 根据裁判系统底盘输出电压设定底盘状态
// float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001;
// if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost())
// {
// chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
// return;
// }
// 根据裁判系统底盘输出电压设定底盘状态
float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001;
if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost())
{
chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
return;
}
// // 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
// if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())