cxh/sweeper_e800
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Auto commit at 2025-06-13 14:03:15

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cxh 2025-06-13 14:03:15 +08:00
parent 2f81d24592
commit 06d3546102
2 changed files with 21 additions and 12 deletions
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5
src/mc/src/mc.cpp
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@ -229,9 +229,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
vcu2_cmd.setSpray(msg.spray);
vcu2_cmd.setSweeepCtrl(msg.sweep_ctrl);
// canctl.sendFrame(vcu1_cmd.toFrame());
// canctl.sendFrame(vcu2_cmd.toFrame());
});
canctl.sendFrame(vcu1_cmd.toFrame());
canctl.sendFrame(vcu2_cmd.toFrame()); });
}
int main(int argc, char **argv)

16
src/radio_ctrl/src/radio_ctrl.cpp
View File

@ -8,7 +8,8 @@
namespace sweeperMsg = sweeper_interfaces::msg;
constexpr float EPS_GEAR_RATIO = 16.5f;
constexpr float DEG_PER_SEC_TO_RPM = 1.0f / 6.0f;
constexpr float GEAR_RATIO = 7.0f;
constexpr float DELTA_T = 0.02f; // 20ms
const uint16_t speed[3] = {192, 992, 1792};
@ -90,7 +91,15 @@ private:
{
msg.gear = 1; // R挡
}
else
{
msg.gear = 0;
msg.brake = 1;
msg.rpm = 0;
}
if (ch_data[7] != 992)
{
// 油门 / 刹车逻辑
if (ch_data[1] <= speed[1])
{
@ -102,6 +111,7 @@ private:
msg.brake = 0;
msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
}
}
// 一键清扫
if (ch_data[5] == 1792)
@ -122,13 +132,13 @@ private:
}
// 转向逻辑
float target_angle = (992 - static_cast<float>(ch_data[3])) / 800 * EPS_ANGLE_MAX;
float target_angle = (static_cast<float>(ch_data[3]) - 992) / 800 * EPS_ANGLE_MAX;
// 角速度（度/秒）
float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;
// 电机转速（单位：rpm）
float motor_rpm = angle_speed * EPS_GEAR_RATIO;
float motor_rpm = angle_speed * DEG_PER_SEC_TO_RPM * GEAR_RATIO;
// 限制电机转速到 [120, 1500] 范围，防止过小/过大
uint16_t can_speed = std::clamp(