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compare: lyq:e5bd3f9c903abb429903739f03583d857b5f6708
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3 Commits
fdde0c6e24 ... e5bd3f9c90

Author SHA1 Message Date
lyq
e5bd3f9c90 新采集的路线1204 2025-12-04 15:00:06 +08:00
lyq
e798a7c15f 调整一些打印 2025-12-04 14:59:41 +08:00
lyq
9e7ae8f7fd bug:brake 搞反了应该1的 2025-12-04 14:59:04 +08:00
10 changed files with 2160 additions and 112 deletions
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130
gps_load_now.txt
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1504
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routes/gps_load_1764825202500.txt Normal file
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6
src/fu/src/fu_node.cpp
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@ -210,7 +210,7 @@ private:
int calculateSafeDistance(int speed) const
{
// 基于速度计算安全距离：速度越快，需要的距离越远
return std::max(3, speed / 10 + 2); // 最少3格，速度30时为5格
return std::max(3, speed / 400 + 2); // 最少3格，速度1500时为5格
}
// 评估绕障可行性
@ -790,8 +790,8 @@ private:
// 发布控制指令
sweeper_interfaces::msg::McCtrl message;
message.sweep = false;
message.brake = 1; // 0开;1关
message.sweep = true;
message.brake = 0; // 0开;1关
message.gear = 2; // 0空挡;1后退;2前进
if (reliability == 1)

6
src/pl/src/pl.cpp
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@ -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);

2
src/pl/src/pl_node.cpp
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@ -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<double> rtk_timeout = duration<double>(0.2);
const duration<double> rtk_timeout = duration<double>(0.5);
class pl_node : public rclcpp::Node
{

52
src/radio_ctrl/src/radio_ctrl.cpp
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@ -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<int>(msg.gear) << ")";
break;
}
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 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<int>(msg.gear) << ")";
// break;
// }
// 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 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
{