https://github.com/skylark0924/rm_infantry-1

Robomaster 2019 SJTU JDragon
https://github.com/skylark0924/rm_infantry-1

Last synced: 6 months ago
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Robomaster 2019 SJTU JDragon

• Host: GitHub
• URL: https://github.com/skylark0924/rm_infantry-1
• Owner: Skylark0924
• License: mit
• Created: 2019-03-16T09:46:02.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2019-04-16T13:09:39.000Z (over 6 years ago)
• Last Synced: 2025-03-31T02:33:40.776Z (7 months ago)
• Language: C
• Size: 6 MB
• Stars: 4
• Watchers: 1
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: readme.md
  • License: LICENSE

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README

          
## 上海交通大学交龙战队2019 Robomaster 步兵机器人

## SJTU JDragon Robomaster 2019 Infantry

本代码继承于上海交通大学交龙战队RoboMaster机甲大师赛机器人统一框架.

采用状态机来转换机器人工作状态，状态机切换逻辑如下：

遥控器右上拨杆控制inputmode

|      Position     | inputmode|

|--------- 			   | -----------|

|upper | REMOTE_MODE|

|middle | KEYBOARD_MODE|

|lower | STOP |

遥控器左上拨杆控制functionmode

| Position|functionmode|

|----|----|

|upper|UPPER_POS|

|middle|MIDDLE_POS|

|lower|LOWER_POS|

二者组合控制WorkState

WorkState开机初始化PREPARE_STATE, 开机初始化后自动入NORMAL_STATE

|	inputemode|	functionmode| WorkState |

|:----:|:----:|:----:|

|STOP| * |STOP_STATE|

|REMOTE_INPUT|UPPER_POS|NORMAL_STATE|

|REMOTE_INPUT|MIDDLE_POS|ADDITIONAL_STATE_ONE|

|REMOTE_INPUT|LOWER_POS|ADDITIONAL_STATE_TWO|