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修复了艉舵忘记上电的问题

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zjk
2025-07-12 15:57:21 +08:00
parent 2ef5fd92ac
commit 5360521750
2 changed files with 24 additions and 40 deletions
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src/pPowerManger/fsm/ShoreBasedReady.cpp
+9
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@@ -27,6 +27,15 @@ void ShoreBasedReady::entry() {
MOOSPause(3);
//2. 启动动力电设备
unsigned char cmd = 1;
//2.0 艉舵
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(1);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(1);
//2.1 启闭机构
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);