1

armor/src/armor_finder/send_target/send_target.cpp

@@ -6,7 +6,7 @@
 #include <config/setconfig.h>
 #include <log.h>
 #include <string>
-#include <fmt/format.h>
+#include <cstdio>
 
 // ANGLE_SCALE: 角度单位换算系数。发出的整数 = yaw_deg / ANGLE_SCALE
 // 例: 1.0f → 单位为度; 0.01f → 单位为厘度(精度更高)
@@ -33,9 +33,13 @@ static bool sendTarget(Serial &serial, double yaw_deg, double pitch_deg, double
     // 格式: "s <yaw_int> <pitch_int> <dist> <shoot_delay> e\n"
     int16_t yaw_tmp   = static_cast<int16_t>(yaw_deg   / ANGLE_SCALE);
     int16_t pitch_tmp = static_cast<int16_t>(pitch_deg / ANGLE_SCALE);
-    std::string frame = fmt::format("s {} {} {} {} e\n", yaw_tmp, pitch_tmp, dist, shoot_delay);
+    char buf[64];
+    std::snprintf(buf, sizeof(buf), "s %d %d %.1f %u e\n",
+                  (int)yaw_tmp, (int)pitch_tmp, dist, (unsigned)shoot_delay);
+    std::string frame(buf);
     return serial.WriteData(reinterpret_cast<const uint8_t*>(frame.data()), frame.size());
 
+
     // ---- 原始二进制打包（已注释）----
     // static short x_tmp, y_tmp, z_tmp;
     // uint8_t buff[10];