robin
bb5a0adc0c
Migrates the 4WD control input from SDL2/Xbox gamepad to a serial RC receiver per doc/joystick.md's functional spec: CH1 steering, CH2 throttle, CH5 emergency brake (highest priority), CH7 speed mode (0.3/0.6 m/s), with a 200ms fail-safe that forces an immediate stop on signal loss. Channel mapping, deadzones, port, and baudrate are all configurable via --rc_* CLI flags. LiDAR avoidance, jerk-limited motion profile, and wheel-fault detection are unchanged. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
37 lines
1.4 KiB
Bash
Executable File
37 lines
1.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 1-Click Launch Script for C++ 4WD Motor Control with Mid-360S LiDAR Avoidance
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PORT="${1:-/dev/ttyUSB0}"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR" || exit 1
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echo "=================================================================="
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echo " 🚀 ZLAC8015D 4WD + Livox Mid-360S 라이다 원클릭 런치 시스템"
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echo "=================================================================="
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# 1. USB Latency 1ms 단축
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if [ -f "./set_low_latency.sh" ]; then
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echo "[1/2] USB 시리얼 포트($PORT) 지연 시간 1ms 최적화 적용 중..."
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./set_low_latency.sh "$PORT"
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fi
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# 2. C++ 바이너리 존재 여부 확인 및 컴파일
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if [ ! -f "./xbox_motor_control_cpp" ]; then
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echo "[2/2] C++ 바이너리 컴파일 진행 중 (make)..."
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make
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fi
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echo "=================================================================="
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echo " [시작] C++ 100Hz 초저지연 4WD RC(RadioMaster Pocket + XR1) + 라이다 장애물 회피 시작 ($PORT)"
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echo " - 라이다 기능 비활성화: --no_lidar 옵션"
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echo " - 비상 정지: CH5 브레이크 스위치 또는 Ctrl+C"
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echo "=================================================================="
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# 3. C++ 4WD 프로그램 실행 (추가 인자 전달 가능)
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if [ $# -gt 1 ]; then
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./xbox_motor_control_cpp --port "$PORT" "${@:2}"
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else
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./xbox_motor_control_cpp --port "$PORT"
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fi
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