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键鼠模式底盘方向修正，需优化底盘运动

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Zorua
2026-03-25 20:46:56 +08:00
parent b5c8c590f3
commit 4af62739a5
2 changed files with 7 additions and 5 deletions
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8
application/cmd/robot_cmd.c
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@@ -243,12 +243,14 @@ static void RemoteControlSet()
*/
static void MouseKeySet()
{
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
// chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
// chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 40 - rc_data[TEMP].key[KEY_PRESS].d * 40; // w向前，s向后
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 40 - rc_data[TEMP].key[KEY_PRESS].s * 40; // a向左，d向右
gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
// 云台软件限位
if (gimbal_cmd_send.pitch > PITCH_MAX_ANGLE)
gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;