From ab26100687c42fd75aa52cb926fdd093c479d57c Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Mon, 26 May 2025 18:05:46 +0800
Subject: [PATCH] auto

---
 a.sh                              |  6 ++++++
 src/mc/config/config.json         |  2 +-
 src/mc/src/mc.cpp                 | 20 ++++++++++++++------
 src/radio_ctrl/src/radio_ctrl.cpp |  2 +-
 4 files changed, 22 insertions(+), 8 deletions(-)
 create mode 100755 a.sh

diff --git a/a.sh b/a.sh
new file mode 100755
index 0000000..eb57d95
--- /dev/null
+++ b/a.sh
@@ -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
diff --git a/src/mc/config/config.json b/src/mc/config/config.json
index cff7bee..0f5a1b7 100644
--- a/src/mc/config/config.json
+++ b/src/mc/config/config.json
@@ -1,3 +1,3 @@
 {
   "can_dev": "can0"
-}
\ No newline at end of file
+}
diff --git a/src/mc/src/mc.cpp b/src/mc/src/mc.cpp
index eae243a..ff4c362 100644
--- a/src/mc/src/mc.cpp
+++ b/src/mc/src/mc.cpp
@@ -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()
diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index a23addb..89cea5d 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -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;