69 lines
1003 B
C
69 lines
1003 B
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdbool.h>
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#include <stdint.h>
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#include "device/lightbridge2.h"
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#define LIGHTBRIDGE2_CMD_REFEREE_MAX_NUM (3)
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/* ??????? */
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typedef enum {
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MODE_CMD_BREAKING_CONTROL = 0,
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MODE_CMD_ONLT_GIMBAL = 1,
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MODE_CMD_FOLLOW = 2,
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MODE_CMD_SPIN = 3,
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} COMP_CMD_MODE_t;
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typedef struct
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{
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bool online;
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int8_t mode;
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bool ai;
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float ch_l_x;
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float ch_l_y;
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float ch_r_x;
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float ch_r_y;
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/* struct{
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float x;
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float y;
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}chassis_ctrl_vec;
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*/
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struct{
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float w;
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}gimbal_yaw_ctrl_vec;
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struct{
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float w;
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}gimbal_pit_ctrl_vec;
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//struct
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//{
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// float yaw;
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// float pitch;
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// float roll;
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//}drone_ctrl_vec;//无人机姿态控制量，预留，好像只需要云台与发射？？
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struct{
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bool ready;
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bool firecmd;
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}shoot;
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} COMP_LIGHTBRIDGE2_CMD_t;
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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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#ifdef __cplusplus
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}
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#endif
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