TuxMonkey/half-steering-basic-framework
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Zorua
2026-01-17 16:54:38 +08:00
parent 71375209d0
commit 80c832a16b
3 changed files with 5 additions and 5 deletions
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1
application/cmd/robot_cmd.c
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@@ -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 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 static Robot_Status_e robot_state; // 机器人整体工作状态
void RobotCMDInit() 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 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

7
application/gimbal/gimbal.c
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@@ -56,7 +56,7 @@ void GimbalInit()
.speed_feedback_source = OTHER_FEED, .speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP, .outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP, .close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, .motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
}, },
.motor_type = GM6020}; .motor_type = GM6020};
// PITCH // PITCH
@@ -151,8 +151,9 @@ void GimbalTask()
// 设置反馈数据,主要是imu和yaw的ecd // 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.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.angle_single_round;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.total_angle; 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 // 推送消息
PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data); PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
} }

2
application/robot_def.h
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@@ -207,7 +207,7 @@ typedef struct
{ {
attitude_t gimbal_imu_data; attitude_t gimbal_imu_data;
uint16_t yaw_motor_single_round_angle; uint16_t yaw_motor_single_round_angle;
float yaw_motor_total_angle; uint16_t yaw_motor_total_angle;
} Gimbal_Upload_Data_s; } Gimbal_Upload_Data_s;
typedef struct typedef struct