From 141355f1a616b9b0a622853d7cecc2680a273f6e Mon Sep 17 00:00:00 2001 From: lyf <169361657@qq.com> Date: Sat, 28 Mar 2026 06:22:48 +0800 Subject: [PATCH] =?UTF-8?q?=E8=87=AA=E7=9E=84=E5=AE=9E=E6=97=B6=E6=80=A7?= =?UTF-8?q?=E4=BF=AE=E5=A4=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/armor_finder/send_target/send_target.cpp | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp index cb0ca68..d940a23 100644 --- a/armor/src/armor_finder/send_target/send_target.cpp +++ b/armor/src/armor_finder/send_target/send_target.cpp @@ -208,25 +208,21 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) { return true; } else if (state == LOST_TARGET_WAIT) { - // 等待1秒期间：开启小陀螺旋转索敌 + // 等待1秒期间：保持静止，不旋转 static int wait_count = 0; wait_count++; if (wait_count % 50 == 0) { auto remaining = 1000 - std::chrono::duration_cast(now - state_start_time).count(); - LOGM(STR_CTR(WORD_YELLOW, "Pre-search: yaw=150, %dms left"), remaining > 0 ? remaining : 0); + LOGM(STR_CTR(WORD_YELLOW, "Waiting... %dms left before search"), remaining > 0 ? remaining : 0); wait_count = 0; } - // 等待期间也旋转：yaw=150，pitch 小范围扫描 - pitch_scan += pitch_direction * 5; - if (pitch_scan >= 50) pitch_direction = -1; - if (pitch_scan <= -50) pitch_direction = 1; - - updateControl(150, pitch_scan, 0, 3, 2); + // 等待期间不旋转，发送0值 + updateControl(0, 0, 0, 3, 3); return true; } else { // SEARCHING - // 索敌状态：持续旋转直到找到目标 - pitch_scan += pitch_direction * 7; + // 索敌状态：持续旋转直到找到目标，加快pitch扫描速度 + pitch_scan += pitch_direction * 15; // 从7加快到15 if (pitch_scan >= 200) pitch_direction = -1; if (pitch_scan <= -100) pitch_direction = 1;