yunhai8432
054430fe49
git init git checkout -b main git add README.md git commit -m "first commit" git remote add origin ssh://git@gitea.qutrobot.top:222/yunhai/Infantry.git git push -u origin main
59 lines
1.3 KiB
C
59 lines
1.3 KiB
C
#include "remote_cmd.h"
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#include <string.h>
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#include "bsp\uart.h"
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#include "component\crc16.h"
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#include "component\crc8.h"
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#include "component\user_math.h"
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#include "gimbal.h"
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#include "device\dr16.h"
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#include "shoot.h"
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int8_t Gimbal_Cmd( Gimbal_CMD_t *g_cmd, DR16_t *dr16)
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{
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switch (dr16->data.sw_l)
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{
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case DR16_SW_DOWN:
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g_cmd->mode= GIMBAL_MODE_RELAX; /* 放松模式 */
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break;
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case DR16_SW_MID:
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g_cmd->ctrl_mode= GIMBAL_MODE_REMOTE; /* 遥控器模式 */
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g_cmd->mode= GIMBAL_MODE_ABSOLUTE;
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g_cmd->delta_yaw=0.8*(dr16->raw_data.ch_r_x-1024)/660; /* 云台Yaw速度设定 */
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g_cmd->delta_pit=0.6*(dr16->raw_data.ch_r_y-16)/640; /* 云台Pitch速度设定 */
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break;
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case DR16_SW_UP:
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g_cmd->ctrl_mode= GIMBAL_MODE_AI; /* 遥控器模式 */
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g_cmd->mode= GIMBAL_MODE_ABSOLUTE;
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break;
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}
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}
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int8_t Shoot_Cmd(Shoot_CMD_t *s_cmd,DR16_t *dr16)
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{
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switch (dr16->data.sw_r)
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{
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case DR16_SW_DOWN:
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s_cmd->firecmd=false;
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s_cmd->ready=false;
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break;
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case DR16_SW_MID:
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s_cmd->firecmd=false;
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s_cmd->ready=true;
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break;
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case DR16_SW_UP:
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s_cmd->firecmd=true;
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s_cmd->ready=true;
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break;
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}
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}
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