robofish/rm_balance
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

添加rc

Browse Source
This commit is contained in:
Robofish 2025-10-05 17:03:34 +08:00
parent 8feb1860a0
commit 3e400fadc0
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
User/task/rc.c
View File

@ -63,6 +63,10 @@ void Task_rc(void *argument) {
cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_for_chassis, 0, 0); // 非阻塞发送底盘控制命令