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优化清扫控制pre

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lyq 2026-04-03 08:53:02 +08:00
parent f19fed282a
commit b00863bc68
1 changed files with 22 additions and 25 deletions
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47
src/base/mc/src/timer_tasks.cpp
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@ -45,38 +45,35 @@ void vcuTimerTask(CANDriver& canctl)
canctl.sendFrame(vcu_enable_cmd.toFrame()); canctl.sendFrame(vcu_enable_cmd.toFrame());
// mode: 0=标准模式(刷子), 1=混合模式(刷子+洒水) // mode: 0=标准模式(刷子), 1=混合模式(刷子+洒水)
bool enable_brush = msg.sweep; // 两种模式都启用刷子 bool enable_brush = true; // 两种模式都启用刷子
bool enable_water = msg.sweep && (msg.sweep_mode == 1); // 仅混合模式启用洒水 // bool enable_water = msg.sweep && (msg.sweep_mode == 1); // 仅混合模式启用洒水
bool enable_water = true;
// ===== 控制0x211报文 (电机M1-M7) ===== // ===== 控制0x211报文 (电机M1-M7) =====
vcu_motor1_cmd.setByte0(msg.sweep ? 1 : 0); // 1表示正向运行，0表示停止 vcu_motor1_cmd.setByte0(msg.sweep ? 1 : 0); // 电机M1方向 1表示正向运行，0表示停止
vcu_motor1_cmd.setByte1(enable_brush ? target_value : 0); //电机M1油门
// 标准模式和混合模式都启用的部件（刷子等） vcu_motor1_cmd.setByte2(enable_brush ? target_value : 0);//吸尘电机
vcu_motor1_cmd.setByte1(enable_brush ? target_value : 0); vcu_motor1_cmd.setByte3(0);//振尘电机
vcu_motor1_cmd.setByte2(enable_brush ? target_value : 0); vcu_motor1_cmd.setByte4(enable_brush ? target_value2 : 0);//主刷推杆-100 100
vcu_motor1_cmd.setByte3(enable_brush ? target_value : 0); vcu_motor1_cmd.setByte5(enable_brush ? target_value2 : 0);//前挡皮推杆电机-100 100
vcu_motor1_cmd.setByte4(enable_brush ? target_value2 : 100); vcu_motor1_cmd.setByte6(enable_brush ? target_value : 0);//边刷电机
vcu_motor1_cmd.setByte5(enable_brush ? target_value2 : 100); vcu_motor1_cmd.setByte7(enable_brush ? target_value : 0);//边刷电机
vcu_motor1_cmd.setByte6(enable_brush ? target_value : 0);
vcu_motor1_cmd.setByte7(enable_brush ? target_value : 0);
canctl.sendFrame(vcu_motor1_cmd.toFrame()); canctl.sendFrame(vcu_motor1_cmd.toFrame());
// ===== 控制0x212报文 (电机M8和LED输出) ===== // ===== 控制0x212报文 (电机M8和预留输出) =====
// 注意：这里假设某个字节控制洒水，需要根据实际硬件确认 vcu_motor2_cmd.setByte0(enable_brush ? target_value : 0); //水泵电机 -100 100
// 模式1（混合模式）时启用洒水相关部件 vcu_motor2_cmd.setByte1(0);//
vcu_motor2_cmd.setByte0(enable_brush ? target_value : 0); vcu_motor2_cmd.setByte2(0);//
vcu_motor2_cmd.setByte1(enable_brush ? target_value : 0); vcu_motor2_cmd.setByte3(0);//
vcu_motor2_cmd.setByte2(enable_brush ? target_value : 0); vcu_motor2_cmd.setByte4(0); //
vcu_motor2_cmd.setByte3(enable_brush ? target_value : 0); vcu_motor2_cmd.setByte5(0); //
vcu_motor2_cmd.setByte4(enable_water ? target_value : 0); // 假设Byte4控制洒水 vcu_motor2_cmd.setByte6(0);//
vcu_motor2_cmd.setByte5(enable_water ? target_value : 0); // 假设Byte5控制洒水 vcu_motor2_cmd.setByte7(0);//
vcu_motor2_cmd.setByte6(enable_brush ? target_value : 0);
vcu_motor2_cmd.setByte7(enable_brush ? target_value : 0);
canctl.sendFrame(vcu_motor2_cmd.toFrame()); canctl.sendFrame(vcu_motor2_cmd.toFrame());
LOG_INFO_THROTTLE(1000, "[VCU] Sweep? %s, Mode: %d (0=标准,1=混合), Water: %s", LOG_INFO_THROTTLE(1000, "[VCU] Sweep? %s, Mode: %d (0=标准,1=混合), Water: %s | Pump: %d",
msg.sweep ? "Yes" : "No", msg.sweep_mode, msg.sweep ? "Yes" : "No", msg.sweep_mode,
enable_water ? "On" : "Off"); enable_water ? "On" : "Off", enable_water);
} }
// 定时器回调：BMS 查询任务 // 定时器回调：BMS 查询任务