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Auto commit at 2025-06-13 11:20:20

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cxh 2025-06-13 11:20:20 +08:00
parent 86830ed7ee
commit 2c842f87ec
1 changed files with 7 additions and 1 deletions
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8
src/radio_ctrl/src/radio_ctrl.cpp
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@ -91,6 +91,12 @@ private:
{ {
msg.gear = 1; // R挡 msg.gear = 1; // R挡
} }
else
{
msg.gear = 0;
msg.brake = 1;
msg.rpm = 0;
}
// 油门 / 刹车逻辑 // 油门 / 刹车逻辑
if (ch_data[1] <= speed[1]) if (ch_data[1] <= speed[1])
@ -123,7 +129,7 @@ private:
} }
// 转向逻辑 // 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） // 角速度（度/秒）
float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T; float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;