TuxMonkey/half-steering-basic-framework
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单发模式前几发会连发，后续正常，先急停再启动也会出现相同问题

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guoxy06
2026-03-23 21:01:33 +08:00
parent e8dde8b825
commit b355992730
4 changed files with 58 additions and 43 deletions
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2
application/cmd/robot_cmd.c
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@@ -341,7 +341,7 @@ static void EmergencyHandler()
{
robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
gimbal_cmd_send.yaw = 0;
gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;;//0
gimbal_cmd_send.pitch = 0;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode = SHOOT_OFF;