robofish/rm_balance
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为了倒地自起

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Robofish 2026-03-21 02:07:34 +08:00
parent e43fc4de1d
commit 9fa8a6cb81
2 changed files with 10 additions and 10 deletions
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16
User/module/cmd/cmd.c
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@ -656,8 +656,8 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
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) {
// 用遥控器调自瞄的时候打开下面两行 // 用遥控器调自瞄的时候打开下面两行
ctx->output.gimbal.source = CMD_SRC_NUC; // ctx->output.gimbal.source = CMD_SRC_NUC;
ctx->output.shoot.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
@ -665,12 +665,12 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
} }
} }
#endif #endif
// if (ctx->input.rc.sw[0] == CMD_SW_DOWN) { if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
// ctx->output.balance_chassis.source = CMD_SRC_RC; ctx->output.balance_chassis.source = CMD_SRC_RC;
// ctx->output.gimbal.source = CMD_SRC_RC; ctx->output.gimbal.source = CMD_SRC_RC;
// ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_LEG_TEST; ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_LEG_TEST;
// ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RECOVER; ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RECOVER;
// } }
return CMD_OK; return CMD_OK;
} }

4
User/module/config.c
View File

@ -545,8 +545,8 @@ Config_RobotParam_t robot_config = {
// .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_LEG_TEST, .balance_sw_down = CHASSIS_MODE_LEG_TEST,
.balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE, // .balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE,
#endif #endif
}, },
}, },