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Update gimbal and orientation code. - #224
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xuncheng-001 wants to merge 36 commits into
Open
xuncheng-001 wants to merge 36 commits into
xuncheng-001 wants to merge 36 commits into
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…ize the ban shoot time.
…time,and optimize the velocity expectation during trajectory planning.
…the speed input, and fixed the firing judgment in standard.cpp.
… initial central mode logic.
# Conflicts: # rm_gimbal_controllers/CMakeLists.txt # rm_gimbal_controllers/cfg/BulletSolver.cfg # rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h # rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h # rm_gimbal_controllers/src/bullet_solver.cpp # rm_gimbal_controllers/src/gimbal_base.cpp
# Conflicts: # rm_gimbal_controllers/CMakeLists.txt # rm_gimbal_controllers/cfg/BulletSolver.cfg # rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h # rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h # rm_gimbal_controllers/src/bullet_solver.cpp # rm_gimbal_controllers/src/gimbal_base.cpp
Contributor
我看shooter里改了这个，解释一下捏 @xuncheng-001 |
Contributor
Author
这个条件是加了回速的判断，防止他在一次发射中频繁有状态跳变，实现一次发射只能进入一次has_shoot等于true，不然在一次掉速的过程中可能会有多次has_shoot在true和false之间跳变，导致认为打了很多发 |
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Add the code used for the national competition and implement IMU correction publishing.