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ZHAISHUI04 2025-06-22 21:16:11 +08:00
parent 91edfef2b3
commit 8697e48ce9
2 changed files with 2 additions and 1 deletions
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MDK-ARM/R2/R2.axf
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User/Module/Chassis.c
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@ -127,6 +127,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vx, 5000.0f);
abs_limit_fp(&c->move_vec.Vy, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f); abs_limit_fp(&c->move_vec.Vw, 5000.0f);
c->NUC_send.send[0] = 1;
break; break;
case AUTO_MID360_Pitch: case AUTO_MID360_Pitch:
@ -135,7 +136,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
c->move_vec.Vw = ctrl->Vw * 6000; c->move_vec.Vw = ctrl->Vw * 6000;
c->move_vec.Vx = ctrl->Vy * 6000; c->move_vec.Vx = ctrl->Vy * 6000;
c->move_vec.Vy = ctrl->Vx * 6000; c->move_vec.Vy = ctrl->Vx * 6000;
c->NUC_send.send[0] = 1;
break; break;
default: default: