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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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20
src/radio_ctrl/src/radio_ctrl.cpp
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@ -155,17 +155,25 @@ private:
std::cout << "\n 刹车: " << (msg.brake ? "已刹车" : "未刹车") std::cout << "\n 刹车: " << (msg.brake ? "已刹车" : "未刹车")
<< "\n 挡位: "; << "\n 挡位: ";
switch(msg.gear) { switch (msg.gear)
case 0: std::cout << "空挡"; break; {
case 1: std::cout << "前进挡"; break; case 0:
case 2: std::cout << "后退挡"; break; std::cout << "空挡";
default: std::cout << "未知挡位(" << static_cast<int>(msg.gear) << ")"; break; 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" 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 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") << "\n 清扫状态: " << (msg.roll_brush_suction_direction ? "正在清扫" : "未清扫")
<< std::endl; << std::endl;
} }
else else
{ {