TuxMonkey/half-steering-basic-framework
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赛场_v1.2

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guoxy06
2026-04-03 05:06:57 +08:00
parent 99bfe7cec7
commit 3d7a4592c4
6 changed files with 39 additions and 29 deletions
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5
modules/referee/rm_referee.h
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@@ -54,6 +54,7 @@ typedef struct
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
uint32_t robot_level_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@@ -61,6 +62,7 @@ typedef struct
{
Referee_Interactive_Flag_t Referee_Interactive_Flag;
// 为UI绘制以及交互数据所用
uint8_t robot_level; // 机器人等级
chassis_mode_e chassis_mode; // 底盘模式
gimbal_mode_e gimbal_mode; // 云台模式
shoot_mode_e shoot_mode; // 发射模式设置
@@ -69,6 +71,7 @@ typedef struct
Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
// 上一次的模式，用于flag判断
uint8_t robot_last_level;
chassis_mode_e chassis_last_mode;
gimbal_mode_e gimbal_last_mode;
shoot_mode_e shoot_last_mode;
@@ -97,4 +100,4 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
*/
void RefereeSend(uint8_t *send, uint16_t tx_len);
#endif // !REFEREE_H
#endif // !REFEREE_H