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修改滚刷推杆不下沉的bug

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This commit is contained in:
lyq 2026-01-09 10:02:25 +08:00
parent 0195ddb3f8
commit cf5a698eb9
2 changed files with 19 additions and 18 deletions
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30
src/base/mc/include/mc/can_struct.h
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@ -293,43 +293,43 @@ struct can_VCU_motor1_cmd
// 设置Byte1
void setByte1(int8_t value)
{
data[1] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte2
void setByte2(int8_t value)
{
data[2] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte3
void setByte3(int8_t value)
{
data[3] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte4
void setByte4(int8_t value)
{
data[4] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte5
void setByte5(int8_t value)
{
data[5] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte6
void setByte6(int8_t value)
{
data[6] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte7
void setByte7(int8_t value)
{
data[7] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
CANFrame toFrame() const
@ -356,49 +356,49 @@ struct can_VCU_motor2_cmd
// 设置Byte0
void setByte0(int8_t value)
{
data[0] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[0] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte1
void setByte1(int8_t value)
{
data[1] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte2
void setByte2(int8_t value)
{
data[2] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte3
void setByte3(int8_t value)
{
data[3] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte4
void setByte4(int8_t value)
{
data[4] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte5
void setByte5(int8_t value)
{
data[5] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte6
void setByte6(int8_t value)
{
data[6] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
// 设置Byte7
void setByte7(int8_t value)
{
data[7] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100));
}
CANFrame toFrame() const

7
src/base/mc/src/timer_tasks.cpp
View File

@ -55,15 +55,16 @@ void vcuTimerTask(CANDriver &canctl)
if (sweep_state_changed)
{
// 根据清扫状态设置所有部件
uint8_t target_value = msg.sweep ? 100 : 0; // 100表示启动，0表示停止
int8_t target_value = msg.sweep ? 100 : 0; // 100表示启动，0表示停止
int8_t target_value2 = msg.sweep ? -100 : 100; // -100表示下沉，100表示抬升
// ===== 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.setByte1(target_value);
vcu_motor1_cmd.setByte2(target_value);
vcu_motor1_cmd.setByte3(target_value);
vcu_motor1_cmd.setByte4(target_value);
vcu_motor1_cmd.setByte5(target_value);
vcu_motor1_cmd.setByte4(target_value2);
vcu_motor1_cmd.setByte5(target_value2);
vcu_motor1_cmd.setByte6(target_value);
vcu_motor1_cmd.setByte7(target_value);
canctl.sendFrame(vcu_motor1_cmd.toFrame());