robofish/rm_balance
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

为了倒地自起

Browse Source
This commit is contained in:
Robofish 2026-03-21 02:07:34 +08:00
parent e43fc4de1d
commit 9fa8a6cb81
2 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
User/module/cmd/cmd.c
View File

@ -656,8 +656,8 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
if (ctx->active_source==CMD_SRC_RC) {
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
ctx->output.gimbal.source = CMD_SRC_NUC;
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
ctx->output.refui.source = CMD_SRC_NUC;
#endif
@ -665,12 +665,12 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
}
}
#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;
// }
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;
}

4
User/module/config.c
View File

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