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串口i

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This commit is contained in:
Luo Yufei
2026-03-25 14:42:48 +08:00
parent 8d195d22e1
commit 82e43151c0
1 changed files with 15 additions and 9 deletions
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24
armor/src/armor_finder/send_target/send_target.cpp
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@@ -9,9 +9,9 @@
#include <log.h> #include <log.h>
static bool sendTarget(Serial &serial, double yaw, uint16_t shoot_delay, bool fire) { static bool sendTarget(Serial &serial, double yaw, double pitch, double roll, uint16_t shoot_delay, /*bool fire*/) {
/*
uint8_t buff[7]; uint8_t buff[10];
#ifdef WITH_COUNT_FPS #ifdef WITH_COUNT_FPS
static time_t last_time = time(nullptr); static time_t last_time = time(nullptr);
@@ -32,17 +32,23 @@ static bool sendTarget(Serial &serial, double yaw, uint16_t shoot_delay, bool fi
buff[0] = 's'; buff[0] = 's';
buff[1] = static_cast<char>((yaw_tmp >> 8) & 0xFF); buff[1] = static_cast<char>((yaw_tmp >> 8) & 0xFF);
buff[2] = static_cast<char>((yaw_tmp >> 0) & 0xFF); buff[2] = static_cast<char>((yaw_tmp >> 0) & 0xFF);
buff[3] = static_cast<char>((shoot_delay >> 8) & 0xFF); buff[3] = static_cast<char>((pitch_tmp >> 8) & 0xFF);
buff[4] = static_cast<char>((shoot_delay >> 0) & 0xFF); buff[4] = static_cast<char>((pitch_tmp >> 0) & 0xFF);
buff[5] = fire ? 1 : 0; // 1为开火 0为闭嘴 buff[5] = static_cast<char>((roll_tmp >> 8) & 0xFF);
buff[6] = 'e'; buff[6] = static_cast<char>((roll_tmp >> 0) & 0xFF);
buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
//buff[5] = fire ? 1 : 0; // 1为开火 0为闭嘴
buff[9] = 'e';
return serial.WriteData(buff, sizeof(buff)); return serial.WriteData(buff, sizeof(buff));
*/
// Vofa串口验证 不用可以注释掉 // Vofa串口验证 不用可以注释掉
/*
char buff[128]; char buff[128];
int len = sprintf(buff,"channels: %f, %u, %d\n", yaw, (unsigned int)shoot_delay, fire); int len = sprintf(buff,"channels: %f, %u, %d\n", yaw, (unsigned int)shoot_delay, fire);
return serial.WriteData((unsigned char *)buff, len); return serial.WriteData((unsigned char *)buff, len);
*/
} }
bool ArmorFinder::sendAntiTopTarget(double yaw, uint16_t shoot_delay, bool fire) { bool ArmorFinder::sendAntiTopTarget(double yaw, uint16_t shoot_delay, bool fire) {
@@ -86,6 +92,6 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
// 计算是否满足开火条件 (例如残差小于 1.5 度) // 计算是否满足开火条件 (例如残差小于 1.5 度)
can_fire = AutoTrigger::should_fire(*this, MUZZLE_VELOCITY, yaw, pitch_comp, 0.5); can_fire = AutoTrigger::should_fire(*this, MUZZLE_VELOCITY, yaw, pitch_comp, 0.5);
return sendTarget(serial, last_yaw, shoot_delay, can_fire); return sendTarget(serial, last_yaw, 0.0, 0.0, shoot_delay/*, can_fire*/);
} }