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2024-06-28 11:08:19 +08:00
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##手柄控制
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M2可以使用手柄控制和上位机控制两种方式来控制,手柄控制权限高于上位机控制,下面将概述手柄控制方式。
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<video width="860" height="485" controls>
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<source src="video/M2手柄控制.mp4" type="video/mp4">
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您的浏览器不支持 video 标签。
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</video>
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### 概述
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我们配送一个控制手柄用于控制M2移动。
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![2.png](img/2.png)
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### 使用说明
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#### 手柄操作步骤
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1. 长按手柄HOME键,灯光亮起,自动匹配。
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2. 匹配成功后,手柄会震动一下,跑马灯最左侧与最右侧灯常亮。
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3. 同时按下顶部L、LZ、R、RZ四键,手柄解锁。
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4. 在遥控底盘运动、调整线速度、调整角速度的时候需要长按L、LZ、R、RZ四键中任意一键。
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#### 手柄按键说明
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我们对于M2的手柄控制设计有几种速度档位,如下表。
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<table>
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<tr align="center">
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<th>档位</th>
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<td>0档</td>
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<td>1档</td>
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<td>2档</td>
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<td>3档</td>
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<td>4档</td>
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<td>5档</td>
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</tr>
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<tr align="center">
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<th>速度</th>
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<td>16%</td>
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<td>33%</td>
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<td>50%</td>
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<td>66%</td>
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<td>83%</td>
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<td>100%</td>
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</tr>
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</table>
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2023-11-30 11:04:55 +08:00
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<table>
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<tr>
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<th>按键</th>
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<th>功能</th>
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<th width="50%">备注</th>
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</tr>
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<tr>
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<td>左侧摇杆键</td>
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<td>控制M2前进与后退</td>
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<td>控制摇杆推动的力度控制速度,轻推低速移动,推到底为当前档位最高速</td>
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</tr>
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<tr>
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<td>右侧摇杆键</td>
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<td>控制M2左右转向</td>
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<td>控制摇杆推动的力度控制角度,轻推小角度转向,推到底为最大角转向,松开自动回正</td>
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</tr>
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<tr>
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<td>中区“—”键</td>
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<td>速度减档</td>
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<td>每按一下,速度降低一档,最低不得高于最底档,如0档</td>
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</tr>
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<tr>
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<td>中区“+”键</td>
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<td>速度加档</td>
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<td>每按一下,速度提高一档,最高不得高于最高档,如5档</td>
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</tr>
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<tr>
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<td>左区4控制键</td>
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<td>前/后/左/右控制运动方向</td>
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<td></td>
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</tr>
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</tr>
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<tr>
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<td>右区4控制键</td>
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<td>前/后/左/右控制运动方向</td>
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<td></td>
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</tr>
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<tr>
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<td>HOME键</td>
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<td>开机/急停</td>
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<td>紧急情况下,可按HOME键,M2会紧急刹车</td>
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</tr>
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<tr>
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<td>顶部4控制键</td>
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<td>解锁/防误触</td>
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<td>手柄连接成功后,需同时按下4键解锁,控制时需长按任意一键,行驶过程中松开,M2会缓刹</td>
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</tr>
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</tr>
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</table>
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2023-11-30 11:04:55 +08:00
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