lyq/sweeper_200
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

调整一些打印

Browse Source
This commit is contained in:
lyq 2025-12-04 14:59:41 +08:00
parent 9e7ae8f7fd
commit e798a7c15f
3 changed files with 30 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/pl/src/pl.cpp
View File

@ -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 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 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("当前位置: %d\n", road_pos);
printf("目标位置: %d\n", des_pos); // printf("目标位置: %d\n", des_pos);
// printf("direction_pos: %d\n", direction_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); drive_mode = straight_or_turn(g_rtk.direction, GPSPointQueue[direction_pos].Heading, 12);

2
src/pl/src/pl_node.cpp
View File

@ -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 // 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; system_clock::time_point last_rtk_time;
// 新增：超时阈值（0.5秒） // 新增：超时阈值（0.5秒）
const duration<double> rtk_timeout = duration<double>(0.2); const duration<double> rtk_timeout = duration<double>(0.5);
class pl_node : public rclcpp::Node class pl_node : public rclcpp::Node
{ {

52
src/radio_ctrl/src/radio_ctrl.cpp
View File

@ -142,32 +142,32 @@ private:
pub_->publish(msg); pub_->publish(msg);
// 降低打印频率：每 PRINT_INTERVAL 次回调打印一次 // 降低打印频率：每 PRINT_INTERVAL 次回调打印一次
if (++print_counter >= PRINT_INTERVAL) // if (++print_counter >= PRINT_INTERVAL)
{ // {
std::cout << "\n=====================================" // std::cout << "\n====================================="
<< "\n 刹车: " << (msg.brake ? "已刹车" : "未刹车") // << "\n 刹车: " << (msg.brake ? "已刹车" : "未刹车")
<< "\n 挡位: "; // << "\n 挡位: ";
switch (msg.gear) // switch (msg.gear)
{ // {
case 0: // case 0:
std::cout << "空挡"; // std::cout << "空挡";
break; // break;
case 2: // case 2:
std::cout << "前进挡"; // std::cout << "前进挡";
break; // break;
case 1: // case 1:
std::cout << "后退挡"; // std::cout << "后退挡";
break; // break;
default: // default:
std::cout << "未知挡位(" << static_cast<int>(msg.gear) << ")"; // std::cout << "未知挡位(" << static_cast<int>(msg.gear) << ")";
break; // break;
} // }
std::cout << "\n 行走电机转速: " << static_cast<int>(msg.rpm) << " RPM" // std::cout << "\n 行走电机转速: " << static_cast<int>(msg.rpm) << " RPM"
<< "\n 轮端转向角度: " << msg.angle << "°" // << "\n 轮端转向角度: " << msg.angle << "°"
<< "\n 清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫") // << "\n 清扫状态: " << (msg.sweep ? "正在清扫" : "未清扫")
<< "\n=====================================" << std::endl; // << "\n=====================================" << std::endl;
print_counter = 0; // 重置计数器 // print_counter = 0; // 重置计数器
} // }
} }
else else
{ {