cxh/sweeper_c200
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

添加遥控一键清扫功能

Browse Source
This commit is contained in:
root 2025-05-17 15:39:50 +08:00
parent 8dd991b677
commit 7924773826
2 changed files with 37 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/mqtt_report/src/mqtt_report.cpp
View File

@ -4,6 +4,7 @@
#include "mqtt_report/get_config.h" #include "mqtt_report/get_config.h"
#include "mqtt_report/report_struct.h" #include "mqtt_report/report_struct.h"
#include "mqtt_report/fault_codes.h" #include "mqtt_report/fault_codes.h"
#include <algorithm>
Config config; // 清扫车配置文件 Config config; // 清扫车配置文件
@ -37,7 +38,6 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
float gear_ratio = 32.0; float gear_ratio = 32.0;
float wheel_radius = 0.15; // 轮胎半径，单位米 float wheel_radius = 0.15; // 轮胎半径，单位米
float vehicle_speed_kmh = (2 * 3.1416 * wheel_radius * (motorspeed / gear_ratio) * 60.0) / 1000.0; float vehicle_speed_kmh = (2 * 3.1416 * wheel_radius * (motorspeed / gear_ratio) * 60.0) / 1000.0;
info_report.speed = vehicle_speed_kmh; info_report.speed = vehicle_speed_kmh;
break; break;
} }
@ -48,6 +48,7 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
uint8_t WaterValue_l = (msg->data[1]); uint8_t WaterValue_l = (msg->data[1]);
uint16_t WaterValue = (WaterValue_h & 0x3f) * 16 + (WaterValue_l & 0x0f); uint16_t WaterValue = (WaterValue_h & 0x3f) * 16 + (WaterValue_l & 0x0f);
float WaterLevel = WaterValue * (-0.235) + 199.75; float WaterLevel = WaterValue * (-0.235) + 199.75;
WaterLevel = std::clamp(WaterLevel, 0.0f, 180.0f);
info_report.waterLevel = static_cast<int>(std::round(WaterLevel / 1.8f)); // 液位百分比 info_report.waterLevel = static_cast<int>(std::round(WaterLevel / 1.8f)); // 液位百分比
break; break;
} }
@ -221,7 +222,7 @@ public:
private: private:
void topic_callback(const mc::msg::CanFrame::SharedPtr msg) void topic_callback(const mc::msg::CanFrame::SharedPtr msg)
{ {
// RCLCPP_INFO(this->get_logger(), "Received CAN frame ID: %u, DLC: %u", msg->id, msg->dlc); // RCLCPP_INFO(this->get_logger(), "Received CAN frame ID: %u, DLC: %u", msg->id, msg->dlc);
Msg_Handler(msg); Msg_Handler(msg);
} }

34
src/radio_ctrl/src/radio_ctrl.cpp
View File

@ -107,6 +107,32 @@ private:
msg.rpm = static_cast<uint16_t>(MCU_RPM_MAX * (1016 - ch_data[1]) / (1016 - 216)); msg.rpm = static_cast<uint16_t>(MCU_RPM_MAX * (1016 - ch_data[1]) / (1016 - 216));
} }
// 一键清扫
if (ch_data[6] == 1792)
{
msg.main_brush_lift = false;
msg.edge_brush_lift = false;
msg.vacuum = false;
msg.spray = false;
msg.mud_flap = false;
msg.dust_shake = false;
msg.main_brush_spin = false;
msg.edge_brush_spin = false;
}
else if (ch_data[6] == 192)
{
msg.main_brush_lift = true;
msg.edge_brush_lift = true;
msg.vacuum = true;
msg.spray = true;
msg.mud_flap = true;
msg.dust_shake = true;
msg.main_brush_spin = true;
msg.edge_brush_spin = true;
msg.main_brush_pwm = 100;
msg.edge_brush_pwm = 100;
}
// 转向逻辑 // 转向逻辑
float target_angle = (static_cast<float>(ch_data[3]) - 800) / 800 * EPS_ANGLE_MAX; float target_angle = (static_cast<float>(ch_data[3]) - 800) / 800 * EPS_ANGLE_MAX;
@ -135,6 +161,14 @@ private:
msg.brake_time_ms = 500; msg.brake_time_ms = 500;
msg.angle = 0; msg.angle = 0;
msg.angle_speed = 120; msg.angle_speed = 120;
msg.main_brush_lift = false;
msg.edge_brush_lift = false;
msg.vacuum = false;
msg.spray = false;
msg.mud_flap = false;
msg.dust_shake = false;
msg.main_brush_spin = false;
msg.edge_brush_spin = false;
} }
if (data_safe) if (data_safe)