TuxMonkey/bf_original_balance_chassis
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修复PID堵转检测错误，修复LK电机位置环计算错误，更新文档，修改了消息中心的命名（不影响app层）

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This commit is contained in:
NeoZng
2023-05-14 14:56:00 +08:00
parent 299073321b
commit ecb56ef935
12 changed files with 63 additions and 641 deletions
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17
application/cmd/robot_cmd.c
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@@ -274,22 +274,7 @@ static void EmergencyHandler()
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
}
switch (rc_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][Key_C]%2) //ctrl+c 进入急停
{
case 0:
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
break;
default:
robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
shoot_cmd_send.load_mode = LOAD_STOP;
break;
}
}
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */