fix : 0915

src/mc/include/mc/can_struct.h

@@ -4,6 +4,7 @@
 #include <cstdint>
 #include <array>
 #include <string.h>
+#include <iostream>
 #include "can_driver.h"
 
 #pragma pack(push, 1) // 禁止结构体补齐，确保8字节紧密排列
@@ -24,7 +25,7 @@ union can_MCU_cmd_union
         // Byte 3: 开关信号状态
         struct
         {
-            uint8_t cmd_status : 2;      // BIT0-1: 命令状态(0空挡,1前进,2后退,3保留)
+            uint8_t cmd_status : 2;      // BIT0-1: 命令状态(0空挡,1后退,2前进,3保留)
             uint8_t brake : 1;           // BIT2: 刹车开关(1=开)
             uint8_t reserved_bit3 : 1;   // BIT3: 保留
             uint8_t reserved_bits47 : 4; // BIT4-7: 保留
@@ -84,7 +85,7 @@ struct can_MCU_cmd
         data.fields.can_enabled = en ? 1 : 0;
     }
 
-    // 设置档位 (0空挡,1前进,2后退,3保留)
+    // 设置档位 (0空挡,1后退,2前进,3保留)
     void setGear(uint8_t gear)
     {
         data.fields.switch_status.cmd_status = gear & 0x03; // 只保留低2位
@@ -113,6 +114,14 @@ struct can_MCU_cmd
         frame.dlc = 8;
         frame.ext = EXT_FLAG;
         frame.rtr = RTR_FLAG;
+
+        std::cout << "MCU frame : ";
+        for (int i = 0; i < 8; ++i)
+        {
+            printf("0X%x ", frame.data[i]);
+        }
+        printf("\n");
+
         return frame;
     }
 };

src/mc/src/mc.cpp

@@ -15,27 +15,27 @@ CANDriver canctl;
 
 void mcCtrlCallback(const sweeperMsg::McCtrl::SharedPtr msg)
 {
-  std::cout << "\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 1:
-    std::cout << "前进挡";
-    break;
-  case 2:
-    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")
-            << std::endl;
+  // std::cout << "\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")
+  //           << std::endl;
 
   control_cache.update(*msg);
 }

src/radio_ctrl/src/radio_ctrl.cpp

@@ -86,7 +86,7 @@ private:
             // 挡位选择
             if (gear == 192)
             {
-                msg.gear = 1; // D挡
+                msg.gear = 2; // D挡
             }
             else if (gear == 992)
             {
@@ -94,7 +94,7 @@ private:
             }
             else if (gear == 1792)
             {
-                msg.gear = 2; // R挡
+                msg.gear = 1; // R挡
             }
 
             // 油门 / 刹车逻辑
@@ -148,10 +148,10 @@ private:
             case 0:
                 std::cout << "空挡";
                 break;
-            case 1:
+            case 2:
                 std::cout << "前进挡";
                 break;
-            case 2:
+            case 1:
                 std::cout << "后退挡";
                 break;
             default:

src/sweeper_interfaces/msg/McCtrl.msg

@@ -2,7 +2,7 @@
 
 #mcu部分
 uint8 brake	        #电磁刹指令 0开;1关
-uint8 gear	        #挡位 0空挡;1前进;2后退;3保留
+uint8 gear	        #挡位 0空挡;1后退;2前进;3保留
 uint16 rpm	        #转速 量程：0-6000，对应实际电机转速0-6000rpm
 
 #eps部分