From c6f4a99712b3f99ca80102d3f64ff0cbd6894d03 Mon Sep 17 00:00:00 2001
From: kai <1797003616@qq.com>
Date: Mon, 29 Apr 2024 13:30:03 +0800
Subject: [PATCH] =?UTF-8?q?=E6=A0=B9=E6=8D=AE=E8=A3=81=E5=88=A4=E7=B3=BB?=
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---
 application/chassis/balance.c | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index d7a4c81..98b6a63 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -188,6 +188,16 @@ static void EnableAllMotor() /* 打开所有电机 */
 /* 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 ||
+        l_driven->daemon->temp_count == 0 ||
+        r_driven->daemon->temp_count == 0)
+    {
+        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())
     {