From 83cbd55c0072801e73bd692e31809a52f8d3a269 Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Tue, 4 Nov 2025 16:09:01 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E9=80=9F=E5=BA=A6=E5=92=8C?=
 =?UTF-8?q?=E6=A1=A3=E4=BD=8D?=
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Content-Transfer-Encoding: 8bit

---
 src/fu/src/fu_node.cpp            | 20 +++++++++++---------
 src/radio_ctrl/config/config.json |  2 +-
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/src/fu/src/fu_node.cpp b/src/fu/src/fu_node.cpp
index 75d514f..e6012e6 100644
--- a/src/fu/src/fu_node.cpp
+++ b/src/fu/src/fu_node.cpp
@@ -256,8 +256,8 @@ private:
     int reliability = 0; // RTK信号质量 1行 0不行
 
     // 发布消息的参数
-    int publish_speed = 0; // 转速占空比 0-100
-    int publish_angle = 0; // [-66.0,66.0]，负数表示左转，正数表示右转
+    int publish_speed = 0; // 转速占空比 0-1500
+    int publish_angle = 0; // [-40.0,40.0]，负数表示左转，正数表示右转
 
     // 车体矩形边界（栅格坐标）
     int vehicle_min_x_; // 车体最小行坐标（顶部）
@@ -790,7 +790,9 @@ private:
 
             // 发布控制指令
             sweeper_interfaces::msg::McCtrl message;
-            message.sweep = true;
+            message.sweep = false;
+            message.brake = 1; // 0开;1关
+            message.gear = 2;  // 0空挡;1后退;2前进
 
             if (reliability == 1)
                 message.rpm = publish_speed;
@@ -849,7 +851,7 @@ private:
         float target_angle = calculate_the_angle(x, y);
 
         // 初始化控制参数
-        publish_speed = 30;
+        publish_speed = 800;
         publish_angle = static_cast<int>(target_angle);
 
         // 安全检查：未检测到车体位置
@@ -986,7 +988,7 @@ private:
         else
         {
             // 距离足够，可以减速接近
-            publish_speed = std::max(10, publish_speed / 2);
+            publish_speed = std::max(600, publish_speed / 2);
             RCLCPP_INFO(this->get_logger(), "障碍物较宽，减速接近中，距离=%d格",
                         obstacle_analysis_.obstacle_distance);
         }
@@ -1203,7 +1205,7 @@ private:
         }
 
         // 速度控制:横向偏移时限速
-        publish_speed = 15;
+        publish_speed = 600;
 
         // 角度控制:保持较大角度进行横向偏移
         int shift_angle = calculateLateralShiftAngle();
@@ -1482,7 +1484,7 @@ private:
         }
 
         // 速度控制：平行前进时可以适当提速
-        publish_speed = 20;
+        publish_speed = 700;
 
         // 角度控制：回正，保持直行
         publish_angle = 0;
@@ -1625,7 +1627,7 @@ private:
         {
             // 回正完成
             publish_angle = target_angle_int;
-            publish_speed = speed;
+            publish_speed = 800;
             avoid_ctx_.reset();
 
             RCLCPP_INFO(this->get_logger(),
@@ -1644,7 +1646,7 @@ private:
                 publish_angle -= std::min(RETURN_RATE, -angle_diff);
             }
 
-            publish_speed = 20; // 回正时保持低速
+            publish_speed = 700; // 回正时保持低速
 
             if (avoid_ctx_.counter % 10 == 0)
             {
diff --git a/src/radio_ctrl/config/config.json b/src/radio_ctrl/config/config.json
index 1111955..dd49777 100644
--- a/src/radio_ctrl/config/config.json
+++ b/src/radio_ctrl/config/config.json
@@ -2,7 +2,7 @@
   "serial_port": "/dev/uartPort",
   "baudrate": 100000,
   "rmoctl_para": {
-    "mcu_rpm_max": 3000,
+    "mcu_rpm_max": 1500,
     "eps_angle_max": 40.0
   }
 }
\ No newline at end of file