TuxMonkey/half-steering-basic-framework
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Zorua
2026-01-18 10:48:06 +08:00
parent 734d04ec10
commit ba89c2044a
4 changed files with 66 additions and 54 deletions
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6
application/cmd/robot_cmd.c
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@@ -155,7 +155,7 @@ static void RemoteControlSet()
}
else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
{
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
}
@@ -174,8 +174,8 @@ static void RemoteControlSet()
// 云台软件限位
// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
chassis_cmd_send.vy = -0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
// // 发射参数
// if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开