[Feat!!!]: add the whole hero code #64
Conversation
Able to rotate from -90 (deg) to +70 (deg)
| // pitch data from keyboard | ||
| if (dbus->keyboard.bit.E) pitch_keyboard -= PI; // offset need test | ||
| if (dbus->keyboard.bit.Q) pitch_keyboard += PI; // offset need test | ||
| if (-0.55 * PI <= pitch_keyboard && pitch_keyboard <= 0.55 * PI) pitch_keyboard = 0; | ||
| if (pitch_keyboard > 0) | ||
| pitch_keyboard -= 0.85 * PI; | ||
| if (pitch_keyboard < 0) | ||
| pitch_keyboard += 0.85 * PI; | ||
| pitch_keyboard = clip<float>(pitch_keyboard, -30 * PI, 30 * PI); |
There was a problem hiding this comment.
Instead of using all the if conditions. What if we just increase pitch_keyboard 1.5pi when Q is pressed, and decrease 1.5 pi when E is pressed?
There was a problem hiding this comment.
In this situation, pitch_keyboard is like a discrete angular velocity, rather than angle. Therefore, we want this velocity decrease to 0 when we do not press the keyboard.
| control::Motor4310::TransmitOutput(motor_can1_gimbal, 1); | ||
| } else { | ||
| chassis->SetSpeed(0, 0, 0); | ||
| } |
There was a problem hiding this comment.
Not sure what elevation does, better explain more and the numbers in it with comments
There was a problem hiding this comment.
elevation is for the gimbal. when elevation, the mouse is used to control the shooter rather than chassis.
| // 5. reload motor release to the original position to prepare for the next load | ||
|
|
||
| // Load Detector | ||
| LoadDetect.input(dbus->swr == remote::UP || dbus->mouse.l); |
There was a problem hiding this comment.
why called "LoadDetect" should it not be "Trigger detect“？
There was a problem hiding this comment.
just detect the load signal.
Implement the whole hero code.