cxh/sweeper_e800
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Auto commit at 2025-06-18 13:52:29

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cxh 2025-06-18 13:52:29 +08:00
parent 1fd513fc1c
commit c5021ee6bf
1 changed files with 26 additions and 25 deletions
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51
src/radio_ctrl/src/radio_ctrl.cpp
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@ -75,14 +75,15 @@ private:
for (int i = 0; i < 10; ++i)
{
ch_data[i] = uart_handler_->get_channel_value(i);
// printf("ch[%d]:%d ", i, ch_data[i]);
printf("ch[%d]:%d ", i, ch_data[i]);
}
// printf("\n");
printf("\n");
uint16_t ctrl = ch_data[4]; // 手刹
uint16_t gear = ch_data[5]; // 挡位
uint16_t sweep = ch_data[6]; // 清扫
uint16_t dump = ch_data[7]; // 垃圾倾倒
uint16_t ctrl = ch_data[4]; // 手刹
uint16_t gear = ch_data[5]; // 挡位
uint16_t sweep = ch_data[6]; // 清扫
uint16_t dump = ch_data[7]; // 垃圾倾倒
printf("sweep=%d\n", sweep);
int16_t speed = ch_data[1] - 992; //[-800,800]
if (!initialized)
@ -213,25 +214,25 @@ private:
// 发布控制消息
pub_->publish(msg);
RCLCPP_INFO_STREAM(this->get_logger(), "Publishing ControlMsg:"
<< "\n brake: " << static_cast<int>(msg.brake) // uint8
<< "\n gear: " << static_cast<int>(msg.gear) // uint8
<< "\n rpm: " << static_cast<int>(msg.rpm) // uint8
<< "\n ehb_enable: " << static_cast<int>(msg.ehb_anable) // bool
<< "\n ehb_brake_pressure: " << static_cast<float>(msg.ehb_brake_pressure) // float32
<< "\n angle: " << msg.angle // float32
<< "\n angle_speed: " << msg.angle_speed // uint16
<< "\n edge_brush_lift: " << static_cast<int>(msg.edge_brush_lift) // bool
<< "\n sweep_ctrl: " << static_cast<int>(msg.sweep_ctrl) // bool
<< "\n spray: " << static_cast<int>(msg.spray) // bool
<< "\n mud_flap: " << static_cast<int>(msg.mud_flap) // bool
<< "\n dust_shake: " << static_cast<int>(msg.dust_shake) // bool
<< "\n left_light: " << static_cast<int>(msg.left_light) // bool
<< "\n right_light: " << static_cast<int>(msg.right_light) // bool
<< "\n brake_light: " << static_cast<int>(msg.brake_light) // bool
<< "\n headlight: " << static_cast<int>(msg.headlight) // bool
<< "\n dump: " << static_cast<int>(msg.dump) // uint8
);
// RCLCPP_INFO_STREAM(this->get_logger(), "Publishing ControlMsg:"
// << "\n brake: " << static_cast<int>(msg.brake) // uint8
// << "\n gear: " << static_cast<int>(msg.gear) // uint8
// << "\n rpm: " << static_cast<int>(msg.rpm) // uint8
// << "\n ehb_enable: " << static_cast<int>(msg.ehb_anable) // bool
// << "\n ehb_brake_pressure: " << static_cast<float>(msg.ehb_brake_pressure) // float32
// << "\n angle: " << msg.angle // float32
// << "\n angle_speed: " << msg.angle_speed // uint16
// << "\n edge_brush_lift: " << static_cast<int>(msg.edge_brush_lift) // bool
// << "\n sweep_ctrl: " << static_cast<int>(msg.sweep_ctrl) // bool
// << "\n spray: " << static_cast<int>(msg.spray) // bool
// << "\n mud_flap: " << static_cast<int>(msg.mud_flap) // bool
// << "\n dust_shake: " << static_cast<int>(msg.dust_shake) // bool
// << "\n left_light: " << static_cast<int>(msg.left_light) // bool
// << "\n right_light: " << static_cast<int>(msg.right_light) // bool
// << "\n brake_light: " << static_cast<int>(msg.brake_light) // bool
// << "\n headlight: " << static_cast<int>(msg.headlight) // bool
// << "\n dump: " << static_cast<int>(msg.dump) // uint8
// );
}
else
{