HFUT_Firmament_EC
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sentry_gimbal_hzz
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增加键鼠控制

This commit is contained in:
chenfu 2023-03-28 12:58:48 +08:00
parent ea4db9d4e9 3f0325df28
commit f694056d08
2 changed files with 5 additions and 3 deletions
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1
application/cmd/robot_cmd.c
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@ -26,7 +26,6 @@ static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
static Vision_Send_s vision_send_data; // 视觉发送数据

7
application/gimbal/gimbal.c
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@ -136,7 +136,7 @@ void GimbalInit()
gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}
int aaaaaaa;
/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
void GimbalTask()
{
@ -178,7 +178,10 @@ void GimbalTask()
default:
break;
}
// if(yaw_motor->motor_measure.total_angle>120)
// {
// aaaaaaa++;
// }
// 在合适的地方添加pitch重力补偿前馈力矩
// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
// ...