From 045bf73736918b4536b72c3e053634e1c667b63d Mon Sep 17 00:00:00 2001 From: Marine_zxy <1423266892@qq.com> Date: Fri, 26 Jan 2024 21:39:51 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=94=B9ai=E5=92=8Cdr16=E6=A0=88?= =?UTF-8?q?=E6=B7=B1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- hw/bsp/c-mini/config/balance_infantry.config | 4 ++-- hw/bsp/c-mini/config/infantry.config | 4 ++-- hw/bsp/rm-c/config/dart.config | 2 +- hw/bsp/rm-c/config/engineer.config | 2 +- hw/bsp/rm-c/config/hero.config | 4 ++-- hw/bsp/rm-c/config/infantry.config | 4 ++-- hw/bsp/rm-c/config/sentry.config | 4 ++-- src/robot/sentry/robot.cpp | 4 ++-- src/robot/sentry/robot.hpp | 4 ++-- 9 files changed, 16 insertions(+), 16 deletions(-) diff --git a/hw/bsp/c-mini/config/balance_infantry.config b/hw/bsp/c-mini/config/balance_infantry.config index 2b514d34..ff2ffab6 100644 --- a/hw/bsp/c-mini/config/balance_infantry.config +++ b/hw/bsp/c-mini/config/balance_infantry.config @@ -42,7 +42,7 @@ CONFIG_auto_generated_config_prefix_robot-balance_infantry=y # # CONFIG_auto_generated_config_prefix_device-tof is not set CONFIG_auto_generated_config_prefix_device-ai=y -CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384 # # 上位机 @@ -55,7 +55,7 @@ CONFIG_auto_generated_config_prefix_device-imu=y CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256 # CONFIG_auto_generated_config_prefix_device-servo is not set CONFIG_auto_generated_config_prefix_device-dr16=y -CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384 CONFIG_auto_generated_config_prefix_device-referee=y CONFIG_DEVICE_REF_TRANS_TASK_STACK_DEPTH=256 CONFIG_DEVICE_REF_RECV_TASK_STACK_DEPTH=256 diff --git a/hw/bsp/c-mini/config/infantry.config b/hw/bsp/c-mini/config/infantry.config index 77e096d0..96e18272 100644 --- a/hw/bsp/c-mini/config/infantry.config +++ b/hw/bsp/c-mini/config/infantry.config @@ -72,11 +72,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256 # CONFIG_auto_generated_config_prefix_device-tof is not set # CONFIG_auto_generated_config_prefix_device-blink_led is not set CONFIG_auto_generated_config_prefix_device-dr16=y -CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384 CONFIG_auto_generated_config_prefix_device-ahrs=y CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256 CONFIG_auto_generated_config_prefix_device-ai=y -CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384 # # 上位机 diff --git a/hw/bsp/rm-c/config/dart.config b/hw/bsp/rm-c/config/dart.config index effa32bd..5670e76d 100644 --- a/hw/bsp/rm-c/config/dart.config +++ b/hw/bsp/rm-c/config/dart.config @@ -81,7 +81,7 @@ CONFIG_auto_generated_config_prefix_device-mech=y # CONFIG_auto_generated_config_prefix_device-tof is not set # CONFIG_auto_generated_config_prefix_device-blink_led is not set CONFIG_auto_generated_config_prefix_device-dr16=y -CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384 CONFIG_auto_generated_config_prefix_device-ahrs=y CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256 # CONFIG_auto_generated_config_prefix_device-ai is not set diff --git a/hw/bsp/rm-c/config/engineer.config b/hw/bsp/rm-c/config/engineer.config index a72c7be0..c7b132a8 100644 --- a/hw/bsp/rm-c/config/engineer.config +++ b/hw/bsp/rm-c/config/engineer.config @@ -79,7 +79,7 @@ CONFIG_auto_generated_config_prefix_device-mech=y # CONFIG_auto_generated_config_prefix_device-tof is not set CONFIG_auto_generated_config_prefix_device-blink_led=y CONFIG_auto_generated_config_prefix_device-dr16=y -CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384 CONFIG_auto_generated_config_prefix_device-ahrs=y CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256 # CONFIG_auto_generated_config_prefix_device-ai is not set diff --git a/hw/bsp/rm-c/config/hero.config b/hw/bsp/rm-c/config/hero.config index e316e0c0..9a5ca453 100644 --- a/hw/bsp/rm-c/config/hero.config +++ b/hw/bsp/rm-c/config/hero.config @@ -44,7 +44,7 @@ CONFIG_auto_generated_config_prefix_device-imu=y CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256 # CONFIG_auto_generated_config_prefix_device-wearlab is not set CONFIG_auto_generated_config_prefix_device-dr16=y -CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384 # CONFIG_auto_generated_config_prefix_device-mech is not set # CONFIG_auto_generated_config_prefix_device-tof is not set CONFIG_auto_generated_config_prefix_device-ahrs=y @@ -52,7 +52,7 @@ CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256 CONFIG_auto_generated_config_prefix_device-servo=y CONFIG_auto_generated_config_prefix_device-motor=y CONFIG_auto_generated_config_prefix_device-ai=y -CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384 # # 上位机 diff --git a/hw/bsp/rm-c/config/infantry.config b/hw/bsp/rm-c/config/infantry.config index 77e096d0..96e18272 100644 --- a/hw/bsp/rm-c/config/infantry.config +++ b/hw/bsp/rm-c/config/infantry.config @@ -72,11 +72,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256 # CONFIG_auto_generated_config_prefix_device-tof is not set # CONFIG_auto_generated_config_prefix_device-blink_led is not set CONFIG_auto_generated_config_prefix_device-dr16=y -CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384 CONFIG_auto_generated_config_prefix_device-ahrs=y CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256 CONFIG_auto_generated_config_prefix_device-ai=y -CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384 # # 上位机 diff --git a/hw/bsp/rm-c/config/sentry.config b/hw/bsp/rm-c/config/sentry.config index f34bd212..c192aafc 100644 --- a/hw/bsp/rm-c/config/sentry.config +++ b/hw/bsp/rm-c/config/sentry.config @@ -89,11 +89,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256 # CONFIG_auto_generated_config_prefix_device-tof is not set # CONFIG_auto_generated_config_prefix_device-blink_led is not set CONFIG_auto_generated_config_prefix_device-dr16=y -CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384 CONFIG_auto_generated_config_prefix_device-ahrs=y CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256 CONFIG_auto_generated_config_prefix_device-ai=y -CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256 +CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384 # # 上位机 diff --git a/src/robot/sentry/robot.cpp b/src/robot/sentry/robot.cpp index 45e586b7..5bd328f2 100644 --- a/src/robot/sentry/robot.cpp +++ b/src/robot/sentry/robot.cpp @@ -7,7 +7,7 @@ #include "system.hpp" /* clang-format off */ -Robot::Infantry::Param param = { +Robot::Sentry::Param param = { .chassis={ .type = Component::Mixer::MECANUM, @@ -405,5 +405,5 @@ Robot::Infantry::Param param = { /* clang-format on */ void robot_init() { - System::Start(param, 500.0f); + System::Start(param, 500.0f); } diff --git a/src/robot/sentry/robot.hpp b/src/robot/sentry/robot.hpp index 2c8444ce..054997fe 100644 --- a/src/robot/sentry/robot.hpp +++ b/src/robot/sentry/robot.hpp @@ -13,7 +13,7 @@ void robot_init(); namespace Robot { -class Infantry { +class Sentry { public: typedef struct Param { Module::RMChassis::Param chassis; @@ -38,7 +38,7 @@ class Infantry { Module::Gimbal gimbal_; Module::Launcher launcher_; - Infantry(Param& param, float control_freq) + Sentry(Param& param, float control_freq) : cmd_(Component::CMD::CMD_AUTO_CTRL), bmi088_(param.bmi088_rot), cap_(param.cap), -- Gitee