TuxMonkey/bf_original_balance_chassis
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根据裁判系统底盘输出电压设定底盘状态

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kai
2024-04-29 13:30:03 +08:00
parent d4d0d0ac54
commit c6f4a99712
1 changed files with 10 additions and 0 deletions
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10
application/chassis/balance.c
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@@ -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 */ /* 切换底盘遥控器控制和云台双板控制 */
static void ControlSwitch() 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 // 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()) if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
{ {