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xbox_udp链路

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meiqi
2026-03-27 21:57:52 +08:00
parent c45245038f
commit 4788c0885a
10 changed files with 746 additions and 18 deletions
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16
Deploy_Tienkung/udp_loopback/udp_fsm_controller.py
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@@ -177,6 +177,22 @@ class UDPFSMController:
self.motion_frame.spin_goal = min(
self.max_spin, self.motion_frame.spin_goal + self.spin_step
)
elif event_code == "set_surge":
self.motion_frame.surge_goal = max(
-self.max_surge, min(self.max_surge, packet.drive_value)
)
elif event_code == "set_sway":
self.motion_frame.sway_goal = max(
-self.max_sway, min(self.max_sway, packet.drive_value)
)
elif event_code == "set_spin":
self.motion_frame.spin_goal = max(
-self.max_spin, min(self.max_spin, packet.drive_value)
)
elif event_code == "set_lift":
self.motion_frame.lift_goal = max(
self.min_lift, min(self.max_lift, packet.drive_value)
)
elif event_code == "lift_up":
self.motion_frame.lift_goal = min(
self.max_lift, self.motion_frame.lift_goal + self.lift_step