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fix : DaNeng frame

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lyq 2025-09-15 09:19:25 +08:00
parent af350c55a5
commit 80f7e45f56
4 changed files with 21 additions and 13 deletions
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22
run.sh
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@ -16,16 +16,16 @@ sleep 0.2s
} & } &
sleep 0.2s sleep 0.2s
{ # {
gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node" # gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node"
} # }
sleep 0.2s # sleep 0.2s
{ # {
gnome-terminal --title="rtk" --tab "XXD_ros" -- bash -c "ros2 run rtk rtk_node" # gnome-terminal --title="rtk" --tab "XXD_ros" -- bash -c "ros2 run rtk rtk_node"
}& # }&
sleep 0.2s # sleep 0.2s
{ # {
gnome-terminal --title="pub_gps" --tab "XXD_ros" -- bash -c "ros2 run pub_gps pub_gps_node" # gnome-terminal --title="pub_gps" --tab "XXD_ros" -- bash -c "ros2 run pub_gps pub_gps_node"
} # }

2
src/mc/include/mc/can_struct.h
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@ -329,7 +329,7 @@ struct can_VCU_motor2_cmd
// Byte 7 未使用，保持为0 // Byte 7 未使用，保持为0
void clearByte7() void clearByte7()
{ {
data[7] = 0; data[7] = 100;
} }
CANFrame toFrame() const CANFrame toFrame() const

8
src/mc/src/timer_tasks.cpp
View File

@ -70,6 +70,8 @@ void vcuTimerTask(CANDriver &canctl)
vcu_motor1_cmd.setM3Speed(msg.dust_shake); vcu_motor1_cmd.setM3Speed(msg.dust_shake);
vcu_motor1_cmd.setM4Speed(msg.brush_deck_pusher); vcu_motor1_cmd.setM4Speed(msg.brush_deck_pusher);
vcu_motor1_cmd.setM5Speed(msg.suction_squeeqee_pusher); vcu_motor1_cmd.setM5Speed(msg.suction_squeeqee_pusher);
vcu_motor1_cmd.setM6_LED6(100);
vcu_motor1_cmd.setM7_LED7(100);
canctl.sendFrame(vcu_motor1_cmd.toFrame()); canctl.sendFrame(vcu_motor1_cmd.toFrame());
} }
@ -79,6 +81,12 @@ void vcuTimerTask(CANDriver &canctl)
{ {
// 喷水电机控制 // 喷水电机控制
vcu_motor2_cmd.setM8_Spray(msg.water_spray); vcu_motor2_cmd.setM8_Spray(msg.water_spray);
vcu_motor2_cmd.setOUT1_Reserved(100);
vcu_motor2_cmd.setOUT2_LED1(100);
vcu_motor2_cmd.setOUT3_LED2(100);
vcu_motor2_cmd.setOUT4_LED3(100);
vcu_motor2_cmd.setOUT5_LED4(100);
vcu_motor2_cmd.setOUT6_LED5(100);
canctl.sendFrame(vcu_motor2_cmd.toFrame()); canctl.sendFrame(vcu_motor2_cmd.toFrame());
} }

2
src/radio_ctrl/src/radio_ctrl.cpp
View File

@ -133,7 +133,7 @@ private:
} }
// 转向逻辑 // 转向逻辑
float target_angle = (static_cast<float>(ch_data[0]) - 947) / 800 * EPS_ANGLE_MAX; float target_angle = (static_cast<float>(ch_data[0]) - 992) / 800 * EPS_ANGLE_MAX;
// 角速度（度/秒） // 角速度（度/秒）
float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T; float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;