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Robofish 2025-02-24 14:15:46 +08:00
parent 4703c39639
commit be3d2120bb
4 changed files with 9357 additions and 9359 deletions
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MDK-ARM/DevC/DevC.axf
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MDK-ARM/DevC/DevC.hex
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5
Middlewares/Third_Party/Protocol/protocol.h vendored
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@ -43,7 +43,6 @@ typedef struct __attribute__((packed)) {
float rol; /* 翻滚角（Roll angle） */ float rol; /* 翻滚角（Roll angle） */
} gimbal; /* 欧拉角 */ } gimbal; /* 欧拉角 */
float bullet_speed /* 弹丸速度 */;
uint8_t notice; /* 控制命令 */ uint8_t notice; /* 控制命令 */
} Protocol_UpDataMCU_t; } Protocol_UpDataMCU_t;
@ -63,14 +62,14 @@ typedef struct __attribute__((packed)) {
float rol; /* 翻滚角（Roll angle） */ float rol; /* 翻滚角（Roll angle） */
} gimbal; /* 欧拉角 */ } gimbal; /* 欧拉角 */
float distance; /*目标距离*/
uint8_t notice; /* 控制命令 */
struct __attribute__((packed)) { struct __attribute__((packed)) {
float vx; /* x轴移动速度 */ float vx; /* x轴移动速度 */
float vy; /* y轴移动速度 */ float vy; /* y轴移动速度 */
float wz; /* z轴转动速度 */ float wz; /* z轴转动速度 */
} chassis_move_vec; /* 底盘移动向量 */ } chassis_move_vec; /* 底盘移动向量 */
uint8_t notice; /* 控制命令 */
} Protocol_DownData_t; } Protocol_DownData_t;
typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) {

10
User/device/referee.h
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@ -20,12 +20,12 @@ extern "C" {
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat)) #define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
#define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */ #define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */
#define REF_UI_MAX_GRAPIC_NUM (7) #define REF_UI_MAX_GRAPIC_NUM (7) /* 最大图形数量 */
#define REF_UI_MAX_STRING_NUM (7) #define REF_UI_MAX_STRING_NUM (7) /* 最大字符串数量 */
#define REF_UI_MAX_DEL_NUM (3) #define REF_UI_MAX_DEL_NUM (3) /* 最大删除数量 */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
typedef struct __packed { typedef struct __packed {
@ -38,7 +38,7 @@ typedef struct __packed {
typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t; typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
typedef enum { typedef enum {
REF_CMD_ID_GAME_STATUS = 0x0001, REF_CMD_ID_GAME_STATUS = 0x0001,
REF_CMD_ID_GAME_RESULT = 0x0002, REF_CMD_ID_GAME_RESULT = 0x0002,
REF_CMD_ID_GAME_ROBOT_HP = 0x0003, REF_CMD_ID_GAME_ROBOT_HP = 0x0003,
REF_CMD_ID_DART_STATUS = 0x0004, REF_CMD_ID_DART_STATUS = 0x0004,