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添加rc

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Robofish 2025-10-05 17:03:34 +08:00
parent 8feb1860a0
commit 3e400fadc0
1 changed files with 4 additions and 0 deletions
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User/task/rc.c
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@ -63,6 +63,10 @@ void Task_rc(void *argument) {
cmd_for_chassis.mode = CHASSIS_MODE_RELAX; cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
break; break;
} }
cmd_for_chassis.move_vec.vx = dr16.data.ch_l_x;
cmd_for_chassis.move_vec.vy = dr16.data.ch_l_y;
cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
cmd_for_chassis.height = dr16.data.res;
osMessageQueueReset(task_runtime.msgq.Chassis_cmd); // 重置消息队列，防止阻塞 osMessageQueueReset(task_runtime.msgq.Chassis_cmd); // 重置消息队列，防止阻塞
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_for_chassis, 0, 0); // 非阻塞发送底盘控制命令 osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_for_chassis, 0, 0); // 非阻塞发送底盘控制命令