HiveCoreRD/hivecore_robot_brain
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disable delay between action

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This commit is contained in:
NuoDaJia02
2025-10-30 21:09:17 +08:00
parent 39828ff636
commit bad372d915
2 changed files with 3 additions and 3 deletions
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4
src/brain/config/bt_carry_boxes_sch1.params.yaml
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@@ -111,7 +111,7 @@
frame_time_stamp: 0
data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10]
data_array: [-115, -62.5, -36, 1, -80, -170, -65, 62.5, 36, -1, 80, -10]
'
- name: s11_waist_bend_up
@@ -231,7 +231,7 @@
frame_time_stamp: 0
data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10]
data_array: [-115, -62.5, -36, 1, -80, -170, -65, 62.5, 36, -1, 80, -10]
'
- name: s23_waist_bend_up

2
src/brain/src/cerebrum_node.cpp
View File

@@ -75,7 +75,7 @@ struct UpdatingFlagGuard
// Simple, file-local cooldown between successive BT leaf actions.
// We use steady_clock to avoid ROS time/clock-type complications.
static std::chrono::steady_clock::time_point g_bt_resume_time_steady{};
static constexpr std::chrono::milliseconds kInterActionDelayMs{3000};
static constexpr std::chrono::milliseconds kInterActionDelayMs{0};
} // namespace