TuxMonkey/half-steering-basic-framework
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累计问题解决，拨盘电机仍有问题

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fcl
2026-03-22 16:54:16 +08:00
parent 7a9c0eb3fe
commit 7be687982b
3 changed files with 5 additions and 3 deletions
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4
application/cmd/robot_cmd.c
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@@ -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;