From 37dc1ac1e91a69987ad22c3b37b3f2378882db19 Mon Sep 17 00:00:00 2001
From: ZHAISHUI04 <3150778793@qq.com>
Date: Sun, 13 Apr 2025 14:55:49 +0800
Subject: [PATCH] =?UTF-8?q?=E7=9B=AE=E7=9A=84=EF=BC=8C=E6=97=A0=E7=BA=BF?=
 =?UTF-8?q?=E4=B8=B2=E5=8F=A3=E5=8F=91=E9=80=81=E9=9C=80=E8=A6=81=E6=95=B0?=
 =?UTF-8?q?=E6=8D=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/AUTO_CHASSIS.uvoptx          |   6 +++---
 MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf | Bin 2765372 -> 2765376 bytes
 User/Module/config.c                 |   2 +-
 User/device/cmd.c                    |   4 ++--
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx
index 7f33d80..969da2f 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/AUTO_CHASSIS.uvoptx
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -145,7 +145,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
index dd93e1a5e08b333643104a813ca373aab05d3927..dc51a864a31717a75b568ebaa71eb12c009041ec 100644
GIT binary patch
delta 1839
zcmYk7Yitx%6vubx&g_=b(k&oRd3D_u&YdE=vpX~0;U!&B9uXFTl0ZVrY<C-82C4{r
zK+tM~h-gC$2SQ0O79)abk?6%x1rjAuDP6=bBvv5-(O?W16{18u^Qh3|m-ODbbME>7
z=bW=WSKkkwCfdg+2jgns^s(qkC=XP(-l-0hyvRVh5IFt|%)QR6j-lI)NRW^SM#zLh
zgorRvLJT5GiNQn}QBDjYDu@VCNjPza5yOdxh!Mm{ViZwDJWPxx#t>tPam09{nurpQ
z5HX^Ls3j&46NM3hLnSPwHDl!s-Y1S$!EA*YY13PNIUcf#WY&ADpK8IBF)|5eVxkjH
z;)punESbyU<rB~+Dks4Vg_(tvw~QufDW?l&6J9w1=Y^Jb*ILS5_le95n65C(@NZf)
z3o;6`bq$ZjDUZTDSf;T0g5d<aB=#?aZ4^7FyHBy}Qy3!tUIM!nmP&cad3$S@L$@MX
z1#GB;qPvChT@%Cjs|`~zvJV#H%^VCC9eJptyK|ms=Ugeau7r$pB#S#%(UC{jK#}2I
z0YmVOP4Ji__$wT@8A@>HMu;*kX}g|y*V2h@N-ynZ+mBn1NMS77;$JDcx59OX*5^=;
z3)-MWeAo(;gDhpaM)hO14Z=u!Q@jMbUx8Awv<<51Gg!I%dhuR6ghb;`xTr{a0xQ>W
zUm)#Q;N7<d-oLpMLfE*6?&;YLI+>9`yWTfL6!(H4;kx-i+=T}`;frzko{3?>4#Idk
z($w^TKIuL9KnWUnu!CRl6(1$Va=mT2U-NrhAV@^nu>qGOACZMU$04e)q?Punhg?3R
zFkQcIT)D`ehJA{prJb+bkMVCn5xr;OSsAgFL@n(dFn-}Vsx(bYI_G{6%X;CkQ#$tl
zDk{X)i|$@NDcUc=_7Jm@$p-}7zD(%`)7a4E3&8c)22^L)hQlKEGvzAVTHezmYJP(*
zsz2TEazFG3d=`_)6SvY+RlK4CUrO+d*9Wa}K1tFw(H-Z}kYt<K7*j8ZPLt1bN;v0*
zI5mx1GX9?74c<$CHt;%TrFHKq?JrQ6miOCm=v<yvWZla7&7x=dY(=7)Yncv3G5;C9
zVh}S5o|9r*BX3lsl&4p875ECWG>?%RyeO`$;d7`m>kD4y|Fm%GGRyF9t=P<KWsw1{
z1)1)5gLp#aGi9M~;k7|#(_C;R*KOsC96$U^=D*6P$Yp^*z}~Q7Rb%1#4Xdza4&27=
zJ9u2O>b*2yd!4VQ%aVSFf6>l2QaSn_4o3dA!qUxt{FVcJr6L&?p2?EHBkwvIXb8Rh
zIIa2*^Cp@k3D1o4VrVz%m6N7U-*XeqidmoVrxn@CCtb77i`6~+%|WtZQCZnBwJ6S=
z<!v-tOy90pFV9o(1isTj1}(kFpQ4uy`nI>GQn1aJI1L`N$!+C6(fK1^qR3`5J$9$q
zxoc#gWLkpU9UhYW1{HtZ;xSpyKc|_V59>R)jH7S!3G{`%MiRsB@MfnQ{6O>m<$EZp
zgn=t!>bK%!SzS-fk@6cpUZX1FZmGJC{ImQi<?dxF)fXI3y`DmMZ`Vk5x-10(`1M%z
zNw2u>t)n4O9HVk)cDwEGo-B@4Z5hKYRQm1!r(+s36L}|x?*#2P%TCDqK@>byqn6^d
tm>Q)Y1w+uee2Cepg4bJa(EX}f2nR1?Fsa5y-JPrkI;k!O{(}BL{{glamw5mH

delta 1770
zcmYk6e{54#6vx}X`_^r^je!i1Asu6K&I8BmYhPb0@?!%86d6b~B#LXhcA}8L2%vw+
z6apa-5SY3fbOumF0hJ%qoS2a~qmmGz?HI-YlVKtu;1AG$Bx;D~z1K~fe3IUG?>+Z>
zes=%#q4yNCyHf3#qIpi8sOo|e5!iGm;3?dofUn2fc?0HOSL%khZ#9Q{86TrCf>D_Q
z#?KToMNBa>gt><)VM>`YW++q63}c2f_c9}x3T7lTiW$w^$BbbrnX%0M%s3{%R59b3
zYGwjc!#u!DBy%XdU#J*OQCWqUrH@9#TvdehlrHy7#q)G#96ZKrBNde`Cm}=EY9JzH
z`DB<OyWfE>SuqJvgrj<Xn>VJb!b({Ab(O(uw%+Vo4@T|nU^=SX*0NMT9j2*1K78O^
z%+cc6P_K$ejE(K7&~o(Lqp*}OCxh}t9p>cBPAH<c7r`t1K-6+9^wD2WK^xzRg!1c^
z%iy>wOf%`O<&>Qh{qmOtOqKiFV2Qk)gdx<Cg3+ok5|bNeK~B!-gkrgAIn>)H8sxU;
z`NV@OAg56G7%k*g!oi>|J}2WNHI=>{tEGi3ZGp#a|If%zTA)ylSq)W+VK&RvC*cRG
zY+(sXf+NU2_Q}?xKELc(H=tnudbYpdCFoPU9@*0hBWT*oQ0rApBQ@w|iR^C$zvPXF
zT-h@>Kr!8Dg@CGrtpA_ewH*rR)@JBspY?nUB!4WEJGKp6esv2J$XmOhkQVHKFbB(s
zIoau>cpH%F3tF;nk{gIpd9~dQ#1grzeWIUU-wWeZpPBma1hwshBPypnn2&hnA=_Oe
zm2kY5SB|stjw6Ha9<|;57^*mFDJx1Gl3fMDNQ9l+m#P1A*sCg$bpH0jFW8@D-LO(f
zIKf`rJPp&`Kwtd^&}W6@mkn@99={HPZk%QzilJMBaVw>@=isoam?@nCy|A@F2{i@X
zq-?!pt2C3Avuy7l@Umg0-%p)CvOdLXHr%tHUWa2`^U1WMF-wu(;8e8|a!V>hUk$^u
zGTOKbgI*CyxUtO8<`$eO=sZ^ne>L4yWawNqF6LlasjzJ6;1d4>alYz}*k0tQM8}xm
zDk#^n&h4gp6DKJa7n0M9Ga|T<6CRGa%f^SXfwPx%U(C|RdYsFlOE~43rMKo`yhubW
zw=*(y_6cm{D%ai1|18D0EhOgnl%d*2oX4G)S28b+^&9{_fB2adSR?4`by(x|S(ei#
z)b%2JqQnfI3wCc_-GEUcD>vgD8Q+9Aoya<(`O^!W>!tx2OSj{C)t64XGWPApH~67s
z+Fhy=m)qUk#D&p;wFR65Ctq2)<^ax?izdS(^!IysQ7GX=*iKHC4jpE<xR%`HWa#^2
z_#|75rrqtkpW$moB53l2adgJJaf==B?gr=~I*loNxHad4@atJzpbi#ehKBUw(`+k|
zlzXmlvSJt6w6N@1=*+%&za6DeULvi%hO@c;(yn6K_A^!s)#LG`*2rKZI%V4>Ke&yW
z2<rxSoXO+$;P05`GUV##>6)d>f8v{*1w#f9duY~OT*L3B!_NHcr5!?BmG3n6<pT8<
zYis#I`*MZ$9R<p@sX{i6)aJOw^K6ASMOewCPP`pf$sDgu_WB}8$GAPc1VtxkyX^_<
eX7K{;*R+)1+b2~+s~&ZyR`VQW{R2O5{?EUGCu(Z|

diff --git a/User/Module/config.c b/User/Module/config.c
index 32fc173..e68cdfe 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -94,7 +94,7 @@ static const ConfigParam_t param_chassis ={
     .PitchConfig_Config = {
     .m2006_init_angle =-150,    
 	  .m2006_trigger_angle =0,
-    .go1_init_position = -300,   
+    .go1_init_position = -500,   
 	  .go1_release_threshold =-1900,
 },
 	
diff --git a/User/device/cmd.c b/User/device/cmd.c
index 961968d..d74300e 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -78,8 +78,8 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
 	else if(rc->sw_l==CMD_SW_DOWN)
 	{
 		cmd ->CMD_CtrlType =UP_RCcontrol;
-		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Dribbl_transfer; //左下，右上，投篮
-		if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Dribble; //左下，右中，无模式
+		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Normal; //左下，右上，投篮
+		if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左下，右中，无模式
 	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，无模式
 	}