From dbf246a7509a3899b8c49b8562421496fe986dc5 Mon Sep 17 00:00:00 2001
From: chenfu <2412777093@qq.com>
Date: Tue, 21 May 2024 13:28:12 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=B9chassis=5Fcmd=5Fsend.vx=E5=8F=91?=
 =?UTF-8?q?=E9=80=81bug=EF=BC=8C=E7=AA=9D=E7=B3=BB=E7=89=A2=E7=97=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 application/cmd/robot_cmd.c | 14 +++++++++-----
 application/robot_def.h     |  9 +++++----
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index fff557e..5be3b0a 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -42,6 +42,8 @@ static Robot_Status_e robot_state; // 机器人整体工作状态
 static Work_Mode_e vision_work_mode; // 视觉工作模式
 
 static CANCommInstance *cmd_can_comm; // 底盘CAN通信实例
+
+static chassis_direction_e chassis_direction; // 底盘方向
 void RobotCMDInit()
 {
     rc_data = RemoteControlInit(&huart3);   // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
@@ -117,17 +119,19 @@ static void RemoteControlSet()
     //     gimbal_cmd_send.pitch =( vision_recv_data->pitch == 0 ? gimbal_cmd_send.pitch : vision_recv_data->pitch );
     // }
     // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
-    chassis_cmd_send.vx = 0.0f;
-    if (abs(rc_data[TEMP].rc.rocker_r1) > 300)
+    if (abs(rc_data[TEMP].rc.rocker_r1) > 500)
     {
-        chassis_cmd_send.vx = 0.003f * (float)rc_data[TEMP].rc.rocker_r1; // _水平方向
+        chassis_direction = CHASSIS_ALIGN;
         yaw_chassis_align_ecd = 2716;
+
     }
-    else if (abs(rc_data[TEMP].rc.rocker_r_) > 300)
+    else if (abs(rc_data[TEMP].rc.rocker_r_) > 500)
     {
-        chassis_cmd_send.vx = 0.003f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
+        chassis_direction = CHASSIS_SIDLE;
         yaw_chassis_align_ecd = 765;
     }
+    
+    chassis_cmd_send.vx = 0.003f * ((float)rc_data[TEMP].rc.rocker_r_ + (float)rc_data[TEMP].rc.rocker_r1); 
 
     gimbal_cmd_send.yaw -= 0.001f * (float)rc_data[TEMP].rc.rocker_l_;
     gimbal_cmd_send.pitch -= 0.0004f * (float)rc_data[TEMP].rc.rocker_l1;
diff --git a/application/robot_def.h b/application/robot_def.h
index a0f9334..c937da3 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -18,8 +18,8 @@
 
 /* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */
 // #define ONE_BOARD // 单板控制整车
-#define CHASSIS_BOARD //底盘板
-//#define GIMBAL_BOARD  //云台板
+//#define CHASSIS_BOARD //底盘板
+#define GIMBAL_BOARD  //云台板
 
 #define VISION_USE_VCP  // 使用虚拟串口发送视觉数据
 // #define VISION_USE_UART // 使用串口发送视觉数据
@@ -84,6 +84,7 @@ typedef enum
     CHASSIS_FREE_DEBUG,        // 底盘单独调试模式
 } chassis_mode_e;
 
+
 // 云台模式设置
 typedef enum
 {
@@ -127,8 +128,8 @@ typedef struct
 
 typedef enum
 {
-    CAHSSIS_ALIGN = 0,
-    CHASSIS_SIDLE
+    CHASSIS_ALIGN = 0,
+    CHASSIS_SIDLE,
 } chassis_direction_e;
 
 /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */