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fix : 0915

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This commit is contained in:
lyq 2025-09-15 15:18:58 +08:00
parent f95db21402
commit 023039ed44
4 changed files with 37 additions and 28 deletions
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13
src/mc/include/mc/can_struct.h
View File

@ -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;
}
};

42
src/mc/src/mc.cpp
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@ -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);
}

8
src/radio_ctrl/src/radio_ctrl.cpp
View File

@ -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:

2
src/sweeper_interfaces/msg/McCtrl.msg
View File

@ -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