TuxMonkey/half-steering-basic-framework
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6020pitch driver

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This commit is contained in:
Zorua
2026-03-17 19:44:51 +08:00
parent 4ac9cba1d7
commit caec6bb497
6 changed files with 32 additions and 34 deletions
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12
application/cmd/robot_cmd.c
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@@ -207,6 +207,10 @@ static void RemoteControlSet()
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
}
// 云台软件限位
if (gimbal_cmd_send.pitch > PITCH_MAX_ANGLE)
gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
else if (gimbal_cmd_send.pitch < PITCH_MIN_ANGLE)
gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
// 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.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
@@ -243,6 +247,12 @@ static void MouseKeySet()
gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
// 云台软件限位
if (gimbal_cmd_send.pitch > PITCH_MAX_ANGLE)
gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
else if (gimbal_cmd_send.pitch < PITCH_MIN_ANGLE)
gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
{
@@ -382,4 +392,4 @@ void RobotCMDTask()
PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send);
PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
// VisionSend(&vision_send_data);
}
}