From 3c2021441490ae9b93f7a2ef0f379909b589edd9 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 13 十二月 2025 18:53:16 +0800
Subject: [PATCH] 应该是拍视频的版本，外包在此基础上加了MQTT部分。

---
 python/hitl/simulator.py |    7 +++++++
 1 files changed, 7 insertions(+), 0 deletions(-)

diff --git a/python/hitl/simulator.py b/python/hitl/simulator.py
index d5ddde2..5890bd2 100644
--- a/python/hitl/simulator.py
+++ b/python/hitl/simulator.py
@@ -291,6 +291,13 @@
             dt = max(now - last, 1e-4)
             last = now
             with self._state_lock:
+                # 娉ㄦ剰锛氳繖閲岀殑 self._target_linear/angular 鏄粠 STM32 鍙戝洖鏉ョ殑 PWM 杞崲鍚庣殑浼扮畻鍊�
+                # 瀹為檯涓婃槸 STM32 璁や负鐨勫懡浠わ紝鎴栬�呭鏋滄垜浠彧鏀� PWM 鐨勮瘽锛屽畠灏辨槸瀹為檯鎺у埗閲�
+                # STM32 鍙戦�佺殑鏄� target_mps 鍜� target_turn锛屾垨鑰呮槸 PWM
+                # 鍦� protocols.py 涓紝濡傛灉鎴戜滑鏀跺埌浜� PWM锛屽氨浼氳浆鎹负閫熷害
+                # 濡傛灉鏀跺埌鐨勬槸 target_mps锛岄偅灏辨槸 target_mps
+                # 鐜板湪鐨勯�昏緫鏄細Simulator 鏀跺埌 PythonLinkFrame锛岄噷闈㈠彲鑳芥槸 PWM 鍙嶇畻鐨� velocity
+                # 杩欐牱灏辨瀯鎴愪簡闂幆锛歋TM32 璁＄畻 PWM -> Python 鎺ユ敹 PWM -> 鍙嶇畻閫熷害 -> 鐗╃悊妯″瀷绉垎 -> 浼犳劅鍣ㄦ暟鎹� -> STM32
                 state = self.model.step(self._target_linear, self._target_angular, dt).copy()
                 self._latest_state = state
                 self._sim_time += timedelta(seconds=dt)

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