From e798a7c15f58d8e45ef01021032833dd9c176a14 Mon Sep 17 00:00:00 2001 From: lyq Date: Thu, 4 Dec 2025 14:59:41 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E4=B8=80=E4=BA=9B=E6=89=93?= =?UTF-8?q?=E5=8D=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/pl/src/pl.cpp | 6 ++-- src/pl/src/pl_node.cpp | 2 +- src/radio_ctrl/src/radio_ctrl.cpp | 52 +++++++++++++++---------------- 3 files changed, 30 insertions(+), 30 deletions(-) diff --git a/src/pl/src/pl.cpp b/src/pl/src/pl.cpp index e3718db..2b2b3cd 100644 --- a/src/pl/src/pl.cpp +++ b/src/pl/src/pl.cpp @@ -214,10 +214,10 @@ void PL_ProcThread() des_pos = Road_Planning_Find_Aim_Point(road_pos, 3); // 找到当前点后第 3 个点，作为目标点 direction_pos = Road_Planning_Find_Aim_Point(road_pos, 6); // 找到当前点后第 6 个点，判断直行/转弯 - printf("当前位置: %d\n", road_pos); - printf("目标位置: %d\n", des_pos); + // printf("当前位置: %d\n", road_pos); + // printf("目标位置: %d\n", des_pos); // printf("direction_pos: %d\n", direction_pos); - printf("\n"); + // printf("\n"); drive_mode = straight_or_turn(g_rtk.direction, GPSPointQueue[direction_pos].Heading, 12); diff --git a/src/pl/src/pl_node.cpp b/src/pl/src/pl_node.cpp index 73cb4e0..954b119 100644 --- a/src/pl/src/pl_node.cpp +++ b/src/pl/src/pl_node.cpp @@ -25,7 +25,7 @@ static int sock = -1; // 新增：全局变量记录最后接收RTK数据的时间戳 system_clock::time_point last_rtk_time; // 新增：超时阈值（0.5秒） -const duration rtk_timeout = duration(0.2); +const duration rtk_timeout = duration(0.5); class pl_node : public rclcpp::Node { diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp index 6ed86fa..baf7ac7 100644 --- a/src/radio_ctrl/src/radio_ctrl.cpp +++ b/src/radio_ctrl/src/radio_ctrl.cpp @@ -142,32 +142,32 @@ private: pub_->publish(msg); // 降低打印频率：每 PRINT_INTERVAL 次回调打印一次 - if (++print_counter >= PRINT_INTERVAL) - { - std::cout << "\n=====================================" - << "\n 刹车: " << (msg.brake ? "已刹车" : "未刹车") - << "\n 挡位: "; - switch (msg.gear) - { - case 0: - std::cout << "空挡"; - break; - case 2: - std::cout << "前进挡"; - break; - case 1: - std::cout << "后退挡"; - break; - default: - std::cout << "未知挡位(" << static_cast(msg.gear) << ")"; - break; - } - std::cout << "\n 行走电机转速: " << static_cast(msg.rpm) << " RPM" - << "\n 轮端转向角度: " << msg.angle << "°" - << "\n 清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫") - << "\n=====================================" << std::endl; - print_counter = 0; // 重置计数器 - } + // if (++print_counter >= PRINT_INTERVAL) + // { + // std::cout << "\n=====================================" + // << "\n 刹车: " << (msg.brake ? "已刹车" : "未刹车") + // << "\n 挡位: "; + // switch (msg.gear) + // { + // case 0: + // std::cout << "空挡"; + // break; + // case 2: + // std::cout << "前进挡"; + // break; + // case 1: + // std::cout << "后退挡"; + // break; + // default: + // std::cout << "未知挡位(" << static_cast(msg.gear) << ")"; + // break; + // } + // std::cout << "\n 行走电机转速: " << static_cast(msg.rpm) << " RPM" + // << "\n 轮端转向角度: " << msg.angle << "°" + // << "\n 清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫") + // << "\n=====================================" << std::endl; + // print_counter = 0; // 重置计数器 + // } } else {