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This commit is contained in:
cxh 2025-05-22 08:51:18 +08:00
parent ba3b8da177
commit aa6085112c
1 changed files with 9 additions and 5 deletions
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14
src/mc/src/mc.cpp
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@ -98,7 +98,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
vcu1_cmd.setNightLightPercent(msg.night_light);
canctl.sendFrame(mcu_cmd.toFrame());
canctl.sendFrame(vcu1_cmd.toFrame()); });
canctl.sendFrame(vcu1_cmd.toFrame());
});
// EPS 控制，20Hz
static rclcpp::TimerBase::SharedPtr timer_eps = node->create_wall_timer(
@ -113,7 +114,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
eps_cmd.setControlMode(0x20);
eps_cmd.pack();
canctl.sendFrame(eps_cmd.toFrame()); });
canctl.sendFrame(eps_cmd.toFrame());
});
// VCU2 控制，10Hz
static rclcpp::TimerBase::SharedPtr timer_vcu = node->create_wall_timer(
@ -132,7 +134,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
vcu2_cmd.setSpray(msg.spray);
vcu2_cmd.setVacuum(msg.vacuum);
canctl.sendFrame(vcu2_cmd.toFrame()); });
canctl.sendFrame(vcu2_cmd.toFrame());
});
// 刷子控制，3.3Hz
static rclcpp::TimerBase::SharedPtr timer_brush = node->create_wall_timer(
@ -148,7 +151,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
edge_brush_cmd.setBrushPwm(msg.edge_brush_pwm);
canctl.sendFrame(main_brush_cmd.toFrame());
canctl.sendFrame(edge_brush_cmd.toFrame()); });
canctl.sendFrame(edge_brush_cmd.toFrame());
});
}
void VCUWakeUp()
@ -198,7 +202,7 @@ int main(int argc, char **argv)
mcCtrlCallback // 收到消息后的回调
);
if (!canctl.open("can0"))
if (!canctl.open("can1"))
{
std::cerr << "Failed to open CAN interface\n";
return 1;