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改大疆遥控

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This commit is contained in:
ZHAISHUI04 2025-06-04 19:50:56 +08:00
parent 8ef2a0a348
commit 1b5eb756e9
4 changed files with 20 additions and 17 deletions
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MDK-ARM/R2/R2.axf
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10
User/Module/Chassis.h
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@ -91,7 +91,11 @@ typedef struct
fp32 mul;//油门倍率
}ChassisMove_Vec;
typedef struct
{
fp32 send[4];
}NUC_send_t;
/**
* @brief
*
@ -159,9 +163,7 @@ typedef struct{
int32_t sick_dis[4]; //获取到的sick激光值
NUC_send_t NUC_send;
}Chassis_t;
/**

19
User/device/cmd.c
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@ -91,7 +91,7 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
cmd->cmd_status = n->status_fromnuc;
cmd->raw_status = n->ctrl_status;
for (int i = 0; i < 7; ++i)
{ // 从最低位到最高位遍历
cmd->status[i] = ((cmd->raw_status) & (1 << i)) ? 1 : 0;
@ -146,24 +146,24 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左上，右中，无模式
if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左上，右上，手动调整
if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Dribble; //左上，右上，手动调整
}
else if(rc->dr16.sw_l==CMD_SW_MID)
{
cmd ->CMD_CtrlType =AUTO;
if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360; //左中，右中，雷达
if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Pitch; //左中，右中，雷达发射
if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中，右中，无模式
if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =AUTO_MID360; //左中，右中，雷达
if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_MID360_Pitch; //左中，右下，视觉
if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左中，右下，无模式
}
else if(rc->dr16.sw_l==CMD_SW_DOWN)
{
cmd ->CMD_CtrlType =RCcontrol;
if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，投篮
if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，无模式
if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左下，右中，无模式
if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左下，右上，无模式
}
@ -198,7 +198,7 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Pitch;
else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_MID360;
else cmd ->CMD_mode =Normal ;
}
}
else if(cmd ->CMD_CtrlType ==RCcontrol){
/*手动下的*/
@ -206,6 +206,7 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
else if(rc->LD.key_G ==CMD_SW_UP) cmd ->CMD_mode =Pitch;
else if(rc->LD .key_H==CMD_SW_UP) cmd ->CMD_mode =UP_Adjust;
else cmd ->CMD_mode =Normal;
}
}
}
}

8
User/device/rc.c
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@ -12,8 +12,8 @@
#include "error_detect.h"
//#define DR16
#define LD_t
#define DR16
//#define LD_t
#ifdef DR16
#define FRAME_LEN 36
@ -220,8 +220,8 @@ int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) {
rc->dr16.ch_l_x = 2 * ((float)dr16->data.ch_l_x - RC_CH_VALUE_MID) / full_range;
rc->dr16.ch_l_y = 2 * ((float)dr16->data.ch_l_y - RC_CH_VALUE_MID) / full_range;
rc->dr16.sw_l = (CMD_SwitchPos_DR16_t)dr16->data.sw_l;
rc->dr16.sw_r = (CMD_SwitchPos_DR16_t)dr16->data.sw_r;
rc->dr16.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
rc->dr16.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
rc->dr16.key = dr16->data.key;