From 80c832a16b48484eda1c4c12b72cb658969e7436 Mon Sep 17 00:00:00 2001
From: Zorua <3540226929@qq.com>
Date: Sat, 17 Jan 2026 16:54:38 +0800
Subject: [PATCH] new brench

---
 application/cmd/robot_cmd.c | 1 -
 application/gimbal/gimbal.c | 7 ++++---
 application/robot_def.h     | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 100e01d..df058e1 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -44,7 +44,6 @@ static Shoot_Ctrl_Cmd_s shoot_cmd_send;      // 传递给发射的控制信息
 static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
 
 static Robot_Status_e robot_state; // 机器人整体工作状态
-
 void RobotCMDInit()
 {
     rc_data = RemoteControlInit(&huart3);   // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 6dde34a..d4ecc3c 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -56,7 +56,7 @@ void GimbalInit()
             .speed_feedback_source = OTHER_FEED,
             .outer_loop_type = ANGLE_LOOP,
             .close_loop_type = ANGLE_LOOP | SPEED_LOOP,
-            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
+            .motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
         },
         .motor_type = GM6020};
     // PITCH
@@ -151,8 +151,9 @@ void GimbalTask()
 
     // 设置反馈数据,主要是imu和yaw的ecd
     gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
-    // gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
-    gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.total_angle;
+    gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
+    gimbal_feedback_data.yaw_motor_total_angle = yaw_motor->measure.total_angle;
+    // gimbal_feedback_data.yaw_motor_total_angle = gimba_IMU_data->YawTotalAngle;
     // 推送消息
     PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
 }
\ No newline at end of file
diff --git a/application/robot_def.h b/application/robot_def.h
index d6f12aa..383ed6b 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -207,7 +207,7 @@ typedef struct
 {
     attitude_t gimbal_imu_data;
     uint16_t yaw_motor_single_round_angle;
-    float yaw_motor_total_angle;
+    uint16_t yaw_motor_total_angle;
 } Gimbal_Upload_Data_s;
 
 typedef struct