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lyq 2025-09-09 14:31:30 +08:00
parent 1af51b7737
commit af350c55a5
1 changed files with 15 additions and 7 deletions
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22
src/radio_ctrl/src/radio_ctrl.cpp
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@ -81,7 +81,7 @@ private:
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]
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)
@ -155,17 +155,25 @@ private:
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;
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
{