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

feat : 遥控器适配新底盘

Browse Source
This commit is contained in:
gj 2025-09-09 14:19:19 +08:00
parent 1c3c817bcd
commit 1af51b7737
2 changed files with 21 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
src/radio_ctrl/src/radio_ctrl.cpp
View File

@ -79,9 +79,9 @@ private:
}
// printf("\n");
uint16_t gear = ch_data[5]; // 挡位
uint16_t sweep = ch_data[6]; // 清扫
int16_t speed = ch_data[1] - 992; //[-800,800]
uint16_t gear = ch_data[7]; // 挡位 最下1792，中间992，最上192
uint16_t sweep = ch_data[6]; // 清扫 最上192，最下1792
int16_t speed = ch_data[2] - 992; // 左边摇杆，最下192，中间992，最上1792 -> [-800,800]
// 挡位选择
if (gear == 192)
@ -98,7 +98,7 @@ private:
}
// 油门 / 刹车逻辑
if (speed <= 0)
if (speed < 0)
{
msg.brake = 1;
msg.rpm = 0;
@ -106,10 +106,10 @@ private:
else
{
msg.brake = 0;
msg.rpm = static_cast<uint8_t>(std::clamp(MCU_RPM_MAX * speed / 800, 0, MCU_RPM_MAX));
msg.rpm = static_cast<uint16_t>(std::clamp(MCU_RPM_MAX * speed / 800, 0, MCU_RPM_MAX));
}
// 一键清扫
// 不清扫
if (sweep == 1792)
{
msg.roll_brush_suction_direction = 0;
@ -120,6 +120,7 @@ private:
msg.suction_squeeqee_pusher = 0;
msg.water_spray = 0;
}
// 清扫
else if (sweep == 192)
{
msg.roll_brush_suction_direction = 1;
@ -132,7 +133,7 @@ private:
}
// 转向逻辑
float target_angle = (static_cast<float>(ch_data[3]) - 992) / 800 * EPS_ANGLE_MAX;
float target_angle = (static_cast<float>(ch_data[0]) - 947) / 800 * EPS_ANGLE_MAX;
// 角速度（度/秒）
float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;
@ -152,20 +153,19 @@ private:
// 发布控制消息
pub_->publish(msg);
std::cout << "Sub ControlMsg:"
<< "\n 电磁刹: " << static_cast<int>(msg.brake)
<< "\n 挡位: " << static_cast<int>(msg.gear)
<< "\n 转速: " << static_cast<int>(msg.rpm)
<< "\n 轮端转向角度: " << msg.angle
<< "\n 转向角速度: " << msg.angle_speed
<< "\n 滚刷&吸风电机方向: " << static_cast<int>(msg.roll_brush_suction_direction)
<< "\n 滚刷&吸风电机: " << static_cast<int>(msg.roll_brush_suction)
<< "\n 边刷电机: " << static_cast<int>(msg.side_brush)
<< "\n 振尘电机: " << static_cast<int>(msg.dust_shake)
<< "\n 刷盘推杆电机: " << static_cast<int>(msg.brush_deck_pusher)
<< "\n 吸扒推杆电机: " << static_cast<int>(msg.suction_squeeqee_pusher)
<< "\n 喷水电机: " << static_cast<int>(msg.water_spray)
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.roll_brush_suction_direction ? "正在清扫" : "未清扫")
<< std::endl;
}
else
{

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

@ -3,7 +3,7 @@
#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 rpm #转速 量程：0-6000，对应实际电机转速0-6000rpm
uint16 rpm #转速 量程：0-6000，对应实际电机转速0-6000rpm
#eps部分
float32 angle #轮端转向角度 分辨率0.2° [-66.0,66.0] 适当缩减