HFUT_Firmament_EC
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basic_framework
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根据裁判系统自动设置自瞄颜色，已测试完毕

This commit is contained in:
sph 2024-02-28 18:23:21 +08:00
parent aecb82fd44
commit e2f57ad306
3 changed files with 8 additions and 8 deletions
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2
application/chassis/chassis.c
View File

@ -224,7 +224,7 @@ void ChassisTask() {
chassis_cmd_recv.wz = 10.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz = 20000;
chassis_cmd_recv.wz = 15000;
break;
default:
break;

10
application/cmd/robot_cmd.c
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@ -116,14 +116,14 @@ static void CalcOffsetAngle() {
*/
static void RemoteControlSet() {
// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
{
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
{
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
} 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_NO_FOLLOW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
}
// else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上],小陀螺
// {

4
modules/referee/referee_protocol.h
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@ -16,8 +16,8 @@
/****************************宏定义部分****************************/
#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
#define Robot_Red 1
#define Robot_Blue 0
#define Robot_Red 0
#define Robot_Blue 1
#define Communicate_Data_LEN 5 // 自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
#pragma pack(1)