串口i

armor/src/armor_finder/send_target/send_target.cpp

@@ -9,9 +9,9 @@
 #include <log.h>
 
 
-static bool sendTarget(Serial &serial, double yaw, uint16_t shoot_delay, bool fire) {
-    /*
-    uint8_t buff[7];
+static bool sendTarget(Serial &serial, double yaw, double pitch, double roll, uint16_t shoot_delay, /*bool fire*/) {
+    
+    uint8_t buff[10];
 
 #ifdef WITH_COUNT_FPS
     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[1] = static_cast<char>((yaw_tmp >> 8) & 0xFF);
     buff[2] = static_cast<char>((yaw_tmp >> 0) & 0xFF);
-    buff[3] = static_cast<char>((shoot_delay >> 8) & 0xFF);
-    buff[4] = static_cast<char>((shoot_delay >> 0) & 0xFF);
-    buff[5] = fire ? 1 : 0;    // 1为开火 0为闭嘴
-    buff[6] = 'e';
+    buff[3] = static_cast<char>((pitch_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((pitch_tmp >> 0) & 0xFF);
+    buff[5] = static_cast<char>((roll_tmp >> 8) & 0xFF);
+    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));
-    */
+    
 
     // Vofa串口验证 不用可以注释掉
+    /*
     char buff[128];
     int len = sprintf(buff,"channels: %f, %u, %d\n", yaw, (unsigned int)shoot_delay, fire);
     return serial.WriteData((unsigned char *)buff, len);
+    */
 }
 
 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)
     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*/);
 }