robofish/rm_balance
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fix

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Robofish 2026-03-17 11:34:48 +08:00
parent 3c4f62e041
commit d6e1ccabd0
3 changed files with 16 additions and 15 deletions
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26
User/module/cmd/cmd.c
View File

@ -635,19 +635,19 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE);
#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
if (ctx->input.online[CMD_SRC_NUC]) {
if (ctx->active_source==CMD_SRC_RC) {
if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
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
}
}
}
#endif
// #if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
// if (ctx->input.online[CMD_SRC_NUC]) {
// if (ctx->active_source==CMD_SRC_RC) {
// if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
// 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
// }
// }
// }
// #endif
return CMD_OK;
}

3
User/module/config.c
View File

@ -4,6 +4,7 @@
/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "module/balance_chassis.h"
#include <stdbool.h>
@ -507,7 +508,7 @@ Config_RobotParam_t robot_config = {
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
.balance_sw_up = CHASSIS_MODE_RELAX,
.balance_sw_mid = CHASSIS_MODE_WHELL_LEG_BALANCE,
.balance_sw_down = CHASSIS_MODE_CLIMB_STEP,
.balance_sw_down = CHASSIS_MODE_BALANCE_ROTOR,
#endif
},
},

2
User/module/shoot.c
View File

@ -995,5 +995,5 @@ void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) {
void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) {
ai->num_shooted=s->var_trig.num_shooted;
ai->bullet_speed=12.0f;
ai->bullet_speed=22.0f;
}