TuxMonkey/half-steering-basic-framework
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救火版本

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Zorua
2026-03-29 17:49:58 +08:00
parent b25d7ccd26
commit d5601ffde9
3 changed files with 8 additions and 8 deletions
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10
application/cmd/robot_cmd.c
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@@ -214,8 +214,8 @@ static void RemoteControlSet()
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
chassis_cmd_send.vy = 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
@@ -245,8 +245,8 @@ static void MouseKeySet()
{
// chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
// chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 40 - rc_data[TEMP].key[KEY_PRESS].d * 40; // w向前，s向后
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 40 - rc_data[TEMP].key[KEY_PRESS].s * 40; // a向左，d向右
chassis_cmd_send.vx = -(rc_data[TEMP].key[KEY_PRESS].a * 30 - rc_data[TEMP].key[KEY_PRESS].d * 30); // w向前，s向后
chassis_cmd_send.vy = -(rc_data[TEMP].key[KEY_PRESS].w * 30 - rc_data[TEMP].key[KEY_PRESS].s * 30); // a向左，d向右
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 * 8;
@@ -257,7 +257,7 @@ static void MouseKeySet()
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
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速/
{
case 0:
shoot_cmd_send.bullet_speed = 15;