44 lines
2.1 KiB
C
44 lines
2.1 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "component/LIGHTBRIDGE2_cmd.h"
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#include <string.h>
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#include <math.h>
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/* Private define ----------------------------------------------------------- */
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#define DEVICE_LIGHTBRIDGE2_CH_VALUE_MIN 364u
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#define DEVICE_LIGHTBRIDGE2_CH_VALUE_MID 1024u
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#define DEVICE_LIGHTBRIDGE2_CH_VALUE_MAX 1684u
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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/* Private function -------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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int8_t COMP_LIGHTBRIDGE2_CMD_ParseRc(const DEVICE_LIGHTBRIDGE2_t *rc, COMP_LIGHTBRIDGE2_CMD_t *lightbridge2_cmd) {
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if (rc == NULL) return -1;
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if (lightbridge2_cmd == NULL) return -1;
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lightbridge2_cmd->ch_l_x = rc->data.ch_l_x; //遥控器左摇杆X轴
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lightbridge2_cmd->ch_l_y = rc->data.ch_l_y; //遥控器左摇杆Y轴
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lightbridge2_cmd->ch_r_x = rc->data.ch_r_x; //遥控器右摇杆X轴
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lightbridge2_cmd->ch_r_y = rc->data.ch_r_y; //遥控器右摇杆Y轴
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//lightbridge2_cmd->chassis_ctrl_vec.x = 0.5f*lightbridge2_cmd->ch_r_x; //底盘控制量X轴
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//lightbridge2_cmd->chassis_ctrl_vec.y = 0.5f*lightbridge2_cmd->ch_r_y; //底盘控制量Y轴
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/*主要就是一个遥控器检测是否连接*/
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if(rc->online == false||rc->data.key_A==LIGHTBRIDGE2_CMD_SW_ERR) //遥控器离线或A键异常
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lightbridge2_cmd->mode = MODE_CMD_BREAKING_CONTROL; //失控保护模式
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else if(rc->data.key_E == LIGHTBRIDGE2_CMD_SW_DOWN)lightbridge2_cmd->mode = MODE_CMD_ONLT_GIMBAL; //遥控器E键下档
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else if(rc->data.key_E == LIGHTBRIDGE2_CMD_SW_MID)lightbridge2_cmd->mode = MODE_CMD_FOLLOW;//遥控器E键中档
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else if(rc->data.key_E == LIGHTBRIDGE2_CMD_SW_UP)lightbridge2_cmd->mode = MODE_CMD_SPIN;//遥控器E键上档
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else lightbridge2_cmd->mode = MODE_CMD_BREAKING_CONTROL; //默认模式-失控保护
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lightbridge2_cmd->online = rc->online;
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return 0;
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}
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