From 7be687982bc15d07dc46c7625d12cac48d3a45c8 Mon Sep 17 00:00:00 2001
From: fcl <2136892861@qq.com>
Date: Sun, 22 Mar 2026 16:54:16 +0800
Subject: [PATCH] =?UTF-8?q?=E7=B4=AF=E8=AE=A1=E9=97=AE=E9=A2=98=E8=A7=A3?=
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---
 application/cmd/robot_cmd.c | 4 +++-
 application/robot_def.h     | 2 +-
 application/shoot/shoot.c   | 2 +-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index f54cdeb..7201427 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -229,7 +229,7 @@ static void RemoteControlSet()
     else
         shoot_cmd_send.friction_mode = FRICTION_OFF;
     // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
-    if (rc_data[TEMP].rc.dial < -500)
+    if (rc_data[TEMP].rc.dial >500)
         shoot_cmd_send.load_mode = LOAD_1_BULLET;
     else
         shoot_cmd_send.load_mode = LOAD_STOP;
@@ -341,6 +341,8 @@ static void EmergencyHandler()
     {
         robot_state = ROBOT_STOP;
         gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
+        gimbal_cmd_send.yaw = 0;
+        gimbal_cmd_send.pitch = 0;
         chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
         shoot_cmd_send.shoot_mode = SHOOT_OFF;
         shoot_cmd_send.friction_mode = FRICTION_OFF;
diff --git a/application/robot_def.h b/application/robot_def.h
index c98581f..23519fd 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -42,7 +42,7 @@
 #define STEERING_CHASSIS_ALIGN_ANGLE_LB STEERING_CHASSIS_ALIGN_ECD_LB / 8192.f * 360.f // 舵轮 D 对齐角度
 // 发射参数
 #define ONE_BULLET_DELTA_ANGLE 51.0f    // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
-#define REDUCTION_RATIO_LOADER 19.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
+#define REDUCTION_RATIO_LOADER 36.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
 #define NUM_PER_CIRCLE 7            // 拨盘一圈的装载量
 // 机器人底盘修改的参数,单位为mm(毫米)
 #define WHEEL_BASE 350              // 纵向轴距(前进后退方向)
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index e6aff3a..41a6ab9 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -49,7 +49,7 @@ void ShootInit()
 
             .outer_loop_type = SPEED_LOOP,
             .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
+            .motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
         },
         .motor_type = M3508};
     friction_config.can_init_config.tx_id = 5,