2023-01-24 22:37:53 +08:00
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#ifndef REFEREE_H
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#define REFEREE_H
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#include "rm_referee.h"
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#include "robot_def.h"
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#pragma pack(1)
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2023-01-25 22:32:13 +08:00
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//模式是否切换标志位，0为未切换，1为切换，static定义默认为0
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2023-01-24 22:37:53 +08:00
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typedef struct
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{
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uint32_t chassis_flag : 1;
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uint32_t gimbal_flag : 1;
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2023-01-26 15:07:00 +08:00
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uint32_t shoot_flag : 1;
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uint32_t lid_flag : 1;
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2023-01-24 22:37:53 +08:00
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uint32_t friction_flag : 1;
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uint32_t Power_flag : 1;
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} Referee_Interactive_Flag_t;
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// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
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typedef struct
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{
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Referee_Interactive_Flag_t Referee_Interactive_Flag;
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//为UI绘制以及交互数据所用
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Robot_Status_e Robot_Status;// 机器人状态
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App_Status_e App_Status;// 应用状态
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chassis_mode_e chassis_mode;//底盘模式
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gimbal_mode_e gimbal_mode;//云台模式
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shoot_mode_e shoot_mode;//发射模式设置
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friction_mode_e friction_mode;//摩擦轮关闭
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lid_mode_e lid_mode;//弹舱盖打开
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loader_mode_e loader_mode;//单发...连发
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Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
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2023-01-25 22:32:13 +08:00
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chassis_mode_e chassis_last_mode;//底盘模式
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gimbal_mode_e gimbal_last_mode;//云台模式
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shoot_mode_e shoot_last_mode;//发射模式设置
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friction_mode_e friction_last_mode;//摩擦轮关闭
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lid_mode_e lid_last_mode;//弹舱盖打开
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2023-01-24 22:37:53 +08:00
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} Referee_Interactive_info_t;
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#pragma pack()
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void Referee_Interactive_init(void);
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void Referee_Interactive_task(void);
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#endif // REFEREE_H
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