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refactor: replace vision error_x/y with measure/ref in 0xA5 frame

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Change 0xA5 frame from 2-float (error_x, error_y) to 4-float
(measure_x, ref_x, measure_y, ref_y) so PIDCalculate receives
actual measurement and reference values internally computing error.
This commit is contained in:
李傲琦
2026-06-04 13:55:40 +08:00
parent fd2386d33a
commit c0f43940bd
6 changed files with 85 additions and 67 deletions
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modules/master_machine/master_machine.c
+4 -2
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@@ -29,8 +29,10 @@ static void DecodeVision()
{
if (calc_checksum(buf, VISION_AUTO_LEN) != buf[VISION_AUTO_LEN - 1])
return;
memcpy(&vision_data.error_x, buf + 1, 4);
memcpy(&vision_data.error_y, buf + 5, 4);
memcpy(&vision_data.measure_x, buf + 1, 4);
memcpy(&vision_data.ref_x, buf + 5, 4);
memcpy(&vision_data.measure_y, buf + 9, 4);
memcpy(&vision_data.ref_y, buf + 13, 4);
vision_data.auto_updated = 1;
}
else if (sof == VISION_SOF_MANUAL && len == VISION_MANUAL_LEN)