From 8c7d5deae9e2b0e2976419d0882b4c3784a067a0 Mon Sep 17 00:00:00 2001
From: SkyLi <SkyLiA7Mr@gmail.com>
Date: Sun, 7 Jun 2026 02:17:39 +0800
Subject: [PATCH] =?UTF-8?q?=E5=BA=95=E7=9B=98=E6=8E=A7=E5=88=B6=E5=8F=82?=
 =?UTF-8?q?=E6=95=B0=E6=94=B9=E4=B8=BA=20BASE=5FSPEED=20=E5=92=8C=20YAW=5F?=
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- MAX_LINEAR/MAX_ANGULAR/WHEEL_SEPARATION → BASE_SPEED/YAW_VELOCITY
- CMD_WHEEL_TOPIC 话题名改为 /cmd_chassis
- 移除前端轮速差计算，发布 [linear, angular] 由底盘自行解算左右轮速
---
 src/config.js            |  7 +++----
 src/views/ManualMode.vue | 22 +++++++++-------------
 2 files changed, 12 insertions(+), 17 deletions(-)

diff --git a/src/config.js b/src/config.js
index aa8f381..847e27b 100644
--- a/src/config.js
+++ b/src/config.js
@@ -8,12 +8,11 @@ export const MJPEG_MANUAL_URL = 'http://192.168.0.11/stream?topic=/vision/result
 export const MJPEG_DEBUG_URL = 'http://192.168.0.11/stream?topic=/vision/debug_image&mode=debug'
 
 // ROS 话题
-export const CMD_WHEEL_TOPIC = '/cmd_wheel'
+export const CMD_WHEEL_TOPIC = '/cmd_chassis'
 export const CMD_GIMBAL_TOPIC = '/cmd_gimbal'
 // 键盘控制参数
-export const MAX_LINEAR = 0.5       // m/s
-export const MAX_ANGULAR = 1.0      // rad/s
-export const WHEEL_SEPARATION = 0.2 // 轮距(m)
+export const BASE_SPEED = 0.5     // 直线基础速度
+export const YAW_VELOCITY = 1.0   // 角度速率，度每秒
 
 // 云台角度速率 (度/秒)
 export const GIMBAL_PITCH_DEG_S = 10
diff --git a/src/views/ManualMode.vue b/src/views/ManualMode.vue
index e25af1a..807a23b 100644
--- a/src/views/ManualMode.vue
+++ b/src/views/ManualMode.vue
@@ -24,7 +24,7 @@ import { onBeforeRouteLeave } from 'vue-router'
 import {
   MJPEG_MANUAL_URL, ROSBRIDGE_URL,
   CMD_WHEEL_TOPIC, CMD_GIMBAL_TOPIC,
-  MAX_LINEAR, MAX_ANGULAR, WHEEL_SEPARATION,
+  BASE_SPEED, YAW_VELOCITY,
   GIMBAL_PITCH_DEG_S, GIMBAL_YAW_DEG_S,
   API_GIMBAL_MODE_SWITCH, API_CHASSIS_MODE_SWITCH, API_LASER,
 } from '../config.js'
@@ -38,7 +38,7 @@ connect(ROSBRIDGE_URL)
 const pressed = new Set()
 const laserOn = ref(false)
 let animId = null
-let lastVel = { left: 0, right: 0, pitch: 0, yaw: 0 }
+let lastVel = { linear: 0, angular: 0, pitch: 0, yaw: 0 }
 
 function onKeyDown(e) {
   if (['KeyW','KeyA','KeyS','KeyD','ArrowUp','ArrowDown','ArrowLeft','ArrowRight'].includes(e.code)) {
@@ -59,33 +59,29 @@ function onKeyUp(e) {
 }
 
 function computeVelocities() {
-  const linear = (pressed.has('KeyW') ? MAX_LINEAR : 0) - (pressed.has('KeyS') ? MAX_LINEAR : 0)
-  const angular = (pressed.has('KeyA') ? MAX_ANGULAR : 0) - (pressed.has('KeyD') ? MAX_ANGULAR : 0)
+  const linear = (pressed.has('KeyW') ? BASE_SPEED : 0) - (pressed.has('KeyS') ? BASE_SPEED : 0)
+  const angular = (pressed.has('KeyA') ? YAW_VELOCITY : 0) - (pressed.has('KeyD') ? YAW_VELOCITY : 0)
   const pitch = (pressed.has('ArrowDown') ? GIMBAL_PITCH_DEG_S : 0) - (pressed.has('ArrowUp') ? GIMBAL_PITCH_DEG_S : 0)
   const yaw = (pressed.has('ArrowLeft') ? GIMBAL_YAW_DEG_S : 0) - (pressed.has('ArrowRight') ? GIMBAL_YAW_DEG_S : 0)
 
-  const halfSep = WHEEL_SEPARATION / 2
-  const left = linear - angular * halfSep
-  const right = linear + angular * halfSep
-
-  return { left, right, pitch, yaw }
+  return { linear, angular, pitch, yaw }
 }
 
 function startLoop() {
   function tick() {
-    const { left, right, pitch, yaw } = computeVelocities()
-    const changed = left !== lastVel.left || right !== lastVel.right || pitch !== lastVel.pitch || yaw !== lastVel.yaw
+    const { linear, angular, pitch, yaw } = computeVelocities()
+    const changed = linear !== lastVel.linear || angular !== lastVel.angular || pitch !== lastVel.pitch || yaw !== lastVel.yaw
 
     if (changed) {
       publish(CMD_WHEEL_TOPIC, 'std_msgs/Float32MultiArray', {
-        data: [left, right],
+        data: [linear, angular],
         layout: { dim: [], data_offset: 0 },
       })
       publish(CMD_GIMBAL_TOPIC, 'geometry_msgs/Twist', {
         linear: { x: 0, y: 0, z: 0 },
         angular: { x: 0, y: pitch, z: yaw },
       })
-      lastVel = { left, right, pitch, yaw }
+      lastVel = { linear, angular, pitch, yaw }
     }
 
     if (pressed.size === 0) {