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This commit is contained in:
cxh 2025-05-26 18:05:46 +08:00
parent 9cce7f25a0
commit ab26100687
4 changed files with 22 additions and 8 deletions
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6
a.sh Executable file
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@ -0,0 +1,6 @@
sudo ip link set can0 down
sudo ip link set can0 up type can bitrate 500000
sudo chmod 666 /dev/ttyUSB5
sudo chmod 666 /dev/ttyUSB5
source install/setup.bash
#sudo insmod drivers/usb/serial/pl2303.ko

2
src/mc/config/config.json
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@ -1,3 +1,3 @@
{
"can_dev": "can0"
}
}

20
src/mc/src/mc.cpp
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@ -95,11 +95,11 @@ void setupTimers(rclcpp::Node::SharedPtr node)
mcu_cmd.setBrake(msg.brake);
mcu_cmd.pack();
vcu1_cmd.setLeftLight(msg.left_light);
vcu1_cmd.setNightLightPercent(msg.night_light);
canctl.sendFrame(mcu_cmd.toFrame());
canctl.sendFrame(vcu1_cmd.toFrame()); });
});
// EPS 控制，20Hz
static rclcpp::TimerBase::SharedPtr timer_eps = node->create_wall_timer(
@ -114,7 +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(
@ -123,6 +124,9 @@ void setupTimers(rclcpp::Node::SharedPtr node)
mc::msg::McCtrl msg;
if (!control_cache.get(msg)) return;
vcu1_cmd.setLeftLight(msg.left_light);
vcu1_cmd.setNightLightPercent(msg.night_light);
vcu2_cmd.setBrakeLight(msg.brake_light);
vcu2_cmd.setDustShake(msg.dust_shake);
vcu2_cmd.setEdgeBrushLift(msg.edge_brush_lift);
@ -133,7 +137,10 @@ void setupTimers(rclcpp::Node::SharedPtr node)
vcu2_cmd.setSpray(msg.spray);
vcu2_cmd.setVacuum(msg.vacuum);
canctl.sendFrame(vcu2_cmd.toFrame()); });
//canctl.sendFrame(vcu1_cmd.toFrame());
canctl.sendFrame(vcu2_cmd.toFrame());
});
// 刷子控制，3.3Hz
static rclcpp::TimerBase::SharedPtr timer_brush = node->create_wall_timer(
@ -149,7 +156,8 @@ 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()

2
src/radio_ctrl/src/radio_ctrl.cpp
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@ -127,7 +127,7 @@ private:
msg.vacuum = true;
msg.spray = true;
msg.mud_flap = true;
msg.dust_shake = true;
msg.dust_shake = false;
msg.main_brush_spin = true;
msg.edge_brush_spin = true;
msg.main_brush_pwm = 100;