TuxMonkey/half-steering-basic-framework
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fricok. loader failure

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fcl
2026-03-19 18:29:40 +08:00
committed by guoxy06
parent 43b724d7b7
commit 9e7faaca8b
1 changed files with 3 additions and 1 deletions
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4
application/cmd/robot_cmd.c
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@@ -373,7 +373,7 @@ void RobotCMDTask() {
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
if (switch_is_down(rc_data[TEMP].rc.switch_left)){ // 遥控器左侧开关状态为[下],遥控器控制
RemoteControlSet();
shoot_cmd_send.shoot_mode =SHOOT_OFF;
shoot_cmd_send.shoot_mode =SHOOT_ON;
shoot_cmd_send.friction_mode = FRICTION_OFF;
}
else if (switch_is_up(rc_data[TEMP].rc.switch_left)) {
@@ -384,6 +384,8 @@ void RobotCMDTask() {
else if (switch_is_mid(rc_data[TEMP].rc.switch_left)) {
// 遥控器左侧开关状态为[中],视觉模式，使用遥控器控制底盘和云台，同时开启发射系统
RemoteControlSet();
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
shoot_cmd_send.shoot_mode =SHOOT_ON;
shoot_cmd_send.bullet_speed = 30;
shoot_cmd_send.friction_mode = FRICTION_ON;