TuxMonkey/bf_original_balance_chassis
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改chassis_cmd_send.vx发送bug，窝系牢痰

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chenfu
2024-05-21 13:28:12 +08:00
parent 01c894ef97
commit dbf246a750
2 changed files with 14 additions and 9 deletions
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14
application/cmd/robot_cmd.c
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@@ -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;