-
Notifications
You must be signed in to change notification settings - Fork 76
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Modify the logic of switch and some names. #176
Modify the logic of switch and some names. #176
Conversation
以上的修改都没问题了。 |
这部分改动是还没有push的? |
“暂时没有出现原来的bug”是指没有触发了卡弹但是依然正常还是指后面没有再卡过弹了? |
假如确实是这两个问题引起的,那这个逻辑还是蛮有必要的,你要做到在该切枪管的时候发生了任何意外都能尽可能正常切吧我觉得 |
在另外一个分支上 |
主要是指切完之后不push 但也没有卡弹 |
最新的commit就是加了持续时间判断的,添加的相关参数也会pr |
bool is_double_barrel_{ false }, switch_barrel_{ false }, switch_done_{ true }; | ||
bool is_double_barrel_{ false }, need_switch_{ false }, is_switching_{ false }; | ||
ros::Time last_switch_time_, last_push_time_; | ||
double ready_duration_, is_switching_duration_; |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
为啥叫ready_duration?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
为啥叫ready_duration?
因为在这段时间里 shooter都是在ready中
微信上让你参数化的参数我和凯子也拿不准主意,你今天之内想一个push上来看看 |
写了一个,你看看 @ye-luo-xi-tui |
baecff0
to
299d99e
Compare
barrel_nh.getParam("restart_push_threshold", restart_push_threshold_); | ||
barrel_nh.getParam("cooling_threshold", cooling_threshold_); | ||
barrel_nh.getParam("current_id_frequency_threshold", current_id_fre_threshold_); | ||
barrel_nh.getParam("current_id_frequency_threshold", another_id_fre_threshold_); |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
应该一个参数就行了吧?为啥要两个
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
应该一个参数就行了吧?为啥要两个
因为叶子哥说频率等于0的条件太苛刻了,要参数化
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
应该一个参数就行了吧?为啥要两个
因为叶子哥说频率等于0的条件太苛刻了,要参数化
凯子意思是说你两个变量都读同一个参数,一个变量就够了
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
应该一个参数就行了吧?为啥要两个
因为叶子哥说频率等于0的条件太苛刻了,要参数化
凯子意思是说你两个变量都读同一个参数,一个变量就够了
嘶那是我写错了,应该读的是不同的参数
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
所以是打算用同一个参数还是怎么样
根据凯子哥修改的代码修改了一些逻辑bug,在init中解决刚开始id2射频为0的的问题