From a61ed6ff257e81ed5b62b25cd50031ddbc44c6bc Mon Sep 17 00:00:00 2001
From: guoxy06 <209087794@qq.com>
Date: Wed, 18 Mar 2026 21:08:49 +0800
Subject: [PATCH] =?UTF-8?q?=E6=91=A9=E6=93=A6=E8=BD=AE=EF=BC=8C=E6=8B=A8?=
 =?UTF-8?q?=E7=9B=98=20driver?=
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---
 application/cmd/robot_cmd.c | 17 ++++++++++++-----
 application/shoot/shoot.c   |  8 ++++----
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index ffee775..94e1188 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -12,6 +12,7 @@
 #include "bsp_dwt.h"
 #include "bsp_log.h"
 #include "main.h"
+#include "shoot.h"
 // 私有宏,自动将编码器转换成角度值
 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
@@ -356,8 +357,7 @@ static void EmergencyHandler()
 }
 
 /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
-void RobotCMDTask()
-{
+void RobotCMDTask() {
     // 从其他应用获取回传数据
 #ifdef ONE_BOARD
     SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);
@@ -371,11 +371,18 @@ void RobotCMDTask()
     // 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
     CalcOffsetAngle();
     // 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
+    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();
-    else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
+    shoot_cmd_send.shoot_mode =SHOOT_OFF;
+}
+    else if (switch_is_up(rc_data[TEMP].rc.switch_left)) {
+        // 遥控器左侧开关状态为[上],键盘控制
         MouseKeySet();
-
+        shoot_cmd_send.shoot_mode =SHOOT_OFF;
+    }
+    else if (switch_is_mid( rc_data[TEMP].rc.switch_left)) {
+        shoot_cmd_send.shoot_mode =SHOOT_ON;
+    }
     EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
 
     // 设置视觉发送数据,还需增加加速度和角速度数据
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index 4063116..cf52c92 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -27,7 +27,7 @@ void ShootInit()
         },
         .controller_param_init_config = {
             .speed_PID = {
-                .Kp = 0, // 20
+                .Kp = 20, // 20
                 .Ki = 0, // 1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
@@ -52,10 +52,10 @@ void ShootInit()
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
         .motor_type = M3508};
-    friction_config.can_init_config.tx_id = 3,
+    friction_config.can_init_config.tx_id = 8,
     friction_l = DJIMotorInit(&friction_config);
 
-    friction_config.can_init_config.tx_id = 4; // 右摩擦轮,改txid和方向就行
+    friction_config.can_init_config.tx_id = 5; // 右摩擦轮,改txid和方向就行
     friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     friction_r = DJIMotorInit(&friction_config);
 
@@ -63,7 +63,7 @@ void ShootInit()
     Motor_Init_Config_s loader_config = {
         .can_init_config = {
             .can_handle = &hcan2,
-            .tx_id = 5,
+            .tx_id = 7,
         },
         .controller_param_init_config = {
             .angle_PID = {