robofish/rm_balance
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add-cmd到底自起和recover，左拨杆最下抢占

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xxxxm 2026-03-20 03:52:29 +08:00
parent a1b60330a9
commit 5333918f7b
3 changed files with 15 additions and 8 deletions
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17
User/module/cmd/cmd.c
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@ -4,6 +4,7 @@
#include "cmd.h" #include "cmd.h"
#include "bsp/time.h" #include "bsp/time.h"
#include "module/cmd/cmd_types.h" #include "module/cmd/cmd_types.h"
#include "module/gimbal.h"
#include "module/shoot.h" #include "module/shoot.h"
#include <stdint.h> #include <stdint.h>
#include <string.h> #include <string.h>
@ -70,7 +71,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT #if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT
static void CMD_RC_BuildShootCmd(CMD_t *ctx) { static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
if (ctx->input.online[CMD_SRC_RC]) { if (ctx->input.online[CMD_SRC_RC]) {
ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE; ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
} else { } else {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
} }
@ -648,16 +649,22 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
if (ctx->input.online[CMD_SRC_NUC]) { if (ctx->input.online[CMD_SRC_NUC]) {
if (ctx->active_source==CMD_SRC_RC) { if (ctx->active_source==CMD_SRC_RC) {
if (ctx->input.rc.sw[0] == CMD_SW_DOWN) { if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
ctx->output.gimbal.source = CMD_SRC_NUC; //用遥控器调自瞄的时候打开下面两行
ctx->output.shoot.source = CMD_SRC_NUC; // ctx->output.gimbal.source = CMD_SRC_NUC;
// ctx->output.shoot.source = CMD_SRC_NUC;
#if CMD_ENABLE_MODULE_REFUI #if CMD_ENABLE_MODULE_REFUI
ctx->output.refui.source = CMD_SRC_NUC; ctx->output.refui.source = CMD_SRC_NUC;
#endif #endif
}
} }
} }
}
#endif #endif
if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
ctx->output.balance_chassis.source = CMD_SRC_RC;
ctx->output.gimbal.source = CMD_SRC_RC;
ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_LEG_TEST;
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RECOVER;
}
return CMD_OK; return CMD_OK;
} }

4
User/module/config.c
View File

@ -538,14 +538,14 @@ Config_RobotParam_t robot_config = {
.gimbal_sw_up = GIMBAL_MODE_RELAX, .gimbal_sw_up = GIMBAL_MODE_RELAX,
.gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE, .gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE,
// .gimbal_sw_down = GIMBAL_MODE_RECOVER, // .gimbal_sw_down = GIMBAL_MODE_RECOVER,
.gimbal_sw_down = GIMBAL_MODE_AI_CONTROL, .gimbal_sw_down = GIMBAL_MODE_RECOVER,
#endif #endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
.balance_sw_up = CHASSIS_MODE_RELAX, .balance_sw_up = CHASSIS_MODE_RELAX,
// .balance_sw_mid = CHASSIS_MODE_RELAX, // .balance_sw_mid = CHASSIS_MODE_RELAX,
// .balance_sw_down = CHASSIS_MODE_RELAX, // .balance_sw_down = CHASSIS_MODE_RELAX,
.balance_sw_mid =CHASSIS_MODE_WHELL_LEG_BALANCE, .balance_sw_mid =CHASSIS_MODE_WHELL_LEG_BALANCE,
.balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE, .balance_sw_down = CHASSIS_MODE_LEG_TEST,
#endif #endif
}, },
}, },