robofish/move_xrobot
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左头自瞄差不多了

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RB 2025-03-05 15:02:44 +08:00
parent 180b6d728d
commit 88a1f2bae4
5 changed files with 4855 additions and 4855 deletions
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MDK-ARM/DevC/DevC.axf
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MDK-ARM/DevC/DevC.hex
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2
User/component/cmd.c
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@ -279,7 +279,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
cmd->shoot.mode = SHOOT_MODE_RELAX;
}
/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
if (cmd->ai_status != AI_STATUS_STOP || cmd->host_overwrite == false)
if (cmd->ai_status == AI_STATUS_STOP || cmd->host_overwrite == false)
{
cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
cmd->chassis.ctrl_vec.vy = rc->ch_l_y;

4
User/device/ai.c
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@ -90,8 +90,8 @@ error:
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
// cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
cmd_host->fire = true;
cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
// cmd_host->fire = true;
cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;

2
User/module/config.c
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@ -518,7 +518,7 @@ static const Config_RobotParam_t param_sentry_left = {
.cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM,
.bullet_speed = 25.f,
.min_shoot_delay = (uint32_t)(1000.0f / 3.0f),
.min_shoot_delay = (uint32_t)(1000.0f / 1.0f),
}, /* shoot */
.can = {