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Auto commit at 2025-06-11 17:13:15

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cxh 2025-06-11 17:13:15 +08:00
parent 74c453c5b4
commit 903cc186ff
1 changed files with 2 additions and 1 deletions
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3
src/mc/src/mc.cpp
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@ -185,12 +185,13 @@ void setupTimers(rclcpp::Node::SharedPtr node)
vcu_awake.store(false); vcu_awake.store(false);
} }); } });
// MCU、VCU1 控制，50Hz // MCU控制，50Hz
static rclcpp::TimerBase::SharedPtr timer_mcu = node->create_wall_timer( static rclcpp::TimerBase::SharedPtr timer_mcu = node->create_wall_timer(
std::chrono::milliseconds(20), []() std::chrono::milliseconds(20), []()
{ {
sweeperMsg::McCtrl msg = get_safe_control(); sweeperMsg::McCtrl msg = get_safe_control();
mcu_cmd.setEnabled(true);
mcu_cmd.setGear(msg.gear); mcu_cmd.setGear(msg.gear);
mcu_cmd.setRPM(msg.rpm); mcu_cmd.setRPM(msg.rpm);
mcu_cmd.setBrake(msg.brake); mcu_cmd.setBrake(msg.brake);