From aa6085112c1d3a87e5a09347247853850bcdbdf1 Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Thu, 22 May 2025 08:51:18 +0800
Subject: [PATCH] temp0522

---
 src/mc/src/mc.cpp | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/src/mc/src/mc.cpp b/src/mc/src/mc.cpp
index 3a80390..8871f01 100644
--- a/src/mc/src/mc.cpp
+++ b/src/mc/src/mc.cpp
@@ -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;