dev01
0d40e0fabf
- 新增 docs/API.md（HTTP API 数据格式） - 新增 docs/front-end_ROS.md（前端 ROS 话题格式） - 新增 docs/底盘通信协议指南.md（底盘串口协议） - 删除 docs/与前端对接文档.md - 云台通信协议指南补充 0xA9 前馈帧说明 - 修正 README API 路径及 ROS 话题引用 - .gitignore 添加 workspace/data/
106 lines
1.6 KiB
Markdown
106 lines
1.6 KiB
Markdown
# HTTP API 数据格式
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Base URL: `http://192.168.0.11`
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所有 POST 请求 Content-Type 为 `application/json`。
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---
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## 1. 云台模式切换
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```
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POST /api/gimbal/mode/switch
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```
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**请求体:**
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```json
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{ "mode": "auto" }
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```
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`mode` 取值: `"auto"` | `"manual"` | `"debug"`
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---
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## 2. 底盘模式切换
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```
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POST /api/chassis/mode/switch
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```
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**请求体:**
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```json
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{ "mode": "auto" }
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```
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`mode` 取值: `"auto"` | `"manual"` | `"debug"`
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---
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## 3. 激光控制
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```
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POST /api/laser
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```
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**请求体:**
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```json
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{ "action": "on" }
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```
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`action` 取值: `"on"` | `"off"`
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---
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## 4. 云台 PID 配置
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```
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GET /api/gimbal/pidconfig (获取)
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POST /api/gimbal/pidconfig (保存)
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```
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**GET 响应 / POST 请求体:**
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```json
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{
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"visual_yaw": { "kp": 0.0, "ki": 0.0, "kd": 0.0 },
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"visual_pitch": { "kp": 0.0, "ki": 0.0, "kd": 0.0 },
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"angle_yaw": { "kp": 0.0, "ki": 0.0, "kd": 0.0 },
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"angle_pitch": { "kp": 0.0, "ki": 0.0, "kd": 0.0 }
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}
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```
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| 字段 | 对应 PID 环 |
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|------|------------|
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| `visual_yaw` | 视觉环 Yaw 电机 |
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| `visual_pitch` | 视觉环 Pitch 电机 |
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| `angle_yaw` | 角度环 Yaw 电机 |
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| `angle_pitch` | 角度环 Pitch 电机 |
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---
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## 5. 底盘 PID 配置
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```
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GET /api/chassis/pidconfig (获取)
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POST /api/chassis/pidconfig (保存)
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```
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**GET 响应 / POST 请求体:**
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```json
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{
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"speed": { "kp": 0.0, "ki": 0.0, "kd": 0.0 },
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"angle": { "kp": 0.0, "ki": 0.0, "kd": 0.0 },
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"position": { "kp": 0.0, "ki": 0.0, "kd": 0.0 }
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}
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```
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| 字段 | 对应 PID 环 |
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|------|------------|
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| `speed` | 速度环 |
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| `angle` | 角度环 |
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| `position` | 位置环 |
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