JYC/25RC_MID360_R2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'main' of ssh://gitea.qutcmrt.top:222/hara/mid360 into main

Browse Source
This commit is contained in:
hara 2024-11-28 20:22:04 +08:00
commit b67fa57651
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/FAST_LIO_LOCALIZATION/src/mbot_linux_serial.cpp
View File

@ -147,7 +147,7 @@ void write3float2(float x,float y,float yaw)
unsigned char buf[16] = {0};// unsigned char buf[16] = {0};//
buf[0]=0xFF; buf[0]=0xFF;
buf[1]=0x09; buf[1]=0x09;
buf[2]=0x00; buf[2]=0x01;
buf[15]=0xFE; buf[15]=0xFE;
for(int i=0;i<4;i++){ for(int i=0;i<4;i++){
buf[i+3]=X.data[i]; buf[i+3]=X.data[i];

2
src/FAST_LIO_LOCALIZATION/src/mbot_linux_serial.h
View File

@ -8,7 +8,7 @@
#include <nav_msgs/Odometry.h> #include <nav_msgs/Odometry.h>
#include <boost/asio.hpp> #include <boost/asio.hpp>
#include <geometry_msgs/Twist.h> #include <geometry_msgs/Twist.h>
void write3float2(float x,float y,float yaw); extern void write3float2(float x,float y,float yaw);
extern void serialInit(); extern void serialInit();
extern void writeSpeed(double Left_v, double Right_v,unsigned char ctrlFlag); extern void writeSpeed(double Left_v, double Right_v,unsigned char ctrlFlag);
extern void write3float(float x, float y, float yaw); extern void write3float(float x, float y, float yaw);