修改滚刷推杆不下沉的bug

src/base/mc/include/mc/can_struct.h

@@ -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

src/base/mc/src/timer_tasks.cpp

@@ -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.setByte4(target_value2);
-    vcu_motor1_cmd.setByte5(target_value);
+    vcu_motor1_cmd.setByte5(target_value2);
     vcu_motor1_cmd.setByte6(target_value);
     vcu_motor1_cmd.setByte7(target_value);
     canctl.sendFrame(vcu_motor1_cmd.toFrame());