修复了遥控器摇杆值解算错误的问题

application/chassis/chassis.c

@@ -59,15 +59,15 @@ void ChassisInit()
 {
     // 四个轮子的参数一样,改tx_id和反转标志位即可
     Motor_Init_Config_s chassis_motor_config = {
-        .can_init_config.can_handle=&hcan2,
+        .can_init_config.can_handle=&hcan1,
         .controller_param_init_config = {
             .speed_PID = {
-                .Kp=1,
+                .Kp=10,
                 .Ki=0,
                 .Kd=0,
             },
             .current_PID = {
-                .Kp=1,
+                .Kp=10,
                 .Ki=0,
                 .Kd=0,
             },

application/cmd/robot_cmd.c

@@ -98,8 +98,8 @@ static void RemoteControlSet()
     // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
     if (switch_is_down(rc_data[TEMP].rc.s[1]) || vision_recv_data->target_state == NO_TARGET)
     { // 按照摇杆的输出大小进行角度增量,增益系数需调整
-        gimbal_cmd_send.yaw += 0.04f * (float)rc_data[TEMP].rc.joystick[2];
-        gimbal_cmd_send.pitch += 0.5f * (float)rc_data[TEMP].rc.joystick[3];
+        gimbal_cmd_send.yaw += 0.0015f * (float)rc_data[TEMP].rc.joystick[2];
+        gimbal_cmd_send.pitch += 0.0025f * (float)rc_data[TEMP].rc.joystick[3];
         gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
     }
 
@@ -114,9 +114,9 @@ static void RemoteControlSet()
         ; // 弹舱舵机控制,待添加servo_motor模块,关闭
     // 摩擦轮控制,后续可以根据左侧拨轮的值大小切换射频
     if (rc_data[TEMP].rc.joystick[4] > 100)
-        shoot_cmd_send.shoot_mode = FRICTION_ON;
+        shoot_cmd_send.friction_mode = FRICTION_ON;
     else
-        shoot_cmd_send.shoot_mode = FRICTION_OFF;
+        shoot_cmd_send.friction_mode = FRICTION_OFF;
     // 拨弹控制,目前固定为连发
     if (rc_data[TEMP].rc.joystick[4] > 500)
         shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
@@ -143,9 +143,9 @@ static void EmergencyHandler()
     if (rc_data[TEMP].rc.joystick[4] > 300) // 还需添加重要应用和模块离线的判断
     {
         robot_state = ROBOT_STOP; // 遥控器左上侧拨轮打满,进入紧急停止模式
-        gimbal_cmd_send.gimbal_mode == GIMBAL_ZERO_FORCE;
-        chassis_cmd_send.chassis_mode == CHASSIS_ZERO_FORCE;
-        shoot_cmd_send.shoot_mode == SHOOT_STOP;
+        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
+        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
+        shoot_cmd_send.load_mode = SHOOT_STOP;
         return;
     }
     // if(rc_data[TEMP].rc.joystick[4]<-300 && 各个模块正常)

application/gimbal/gimbal.c

@@ -22,7 +22,7 @@ void GimbalInit()
     Motor_Init_Config_s yaw_config = {
         .can_init_config = {
             .can_handle = &hcan1,
-            .tx_id = 1,
+            .tx_id = 2,
         },
         .controller_param_init_config = {
             .angle_PID = {
@@ -51,7 +51,7 @@ void GimbalInit()
     Motor_Init_Config_s pitch_config = {
         .can_init_config = {
             .can_handle = &hcan1,
-            .tx_id = 2,
+            .tx_id = 1,
         },
         .controller_param_init_config = {
             .angle_PID = {

application/robot_def.h

@@ -52,14 +52,13 @@
  * @brief 这些枚举类型和结构体会作为CMD控制数据和各应用的反馈数据的一部分
  *
  */
-//机器人状态
+// 机器人状态
 typedef enum
 {
     ROBOT_STOP,
     ROBOT_WORKING,
 } Robot_Status_e;
 
-
 // 应用状态
 typedef enum
 {
@@ -94,7 +93,7 @@ typedef enum
 {
     FRICTION_OFF, // 摩擦轮关闭
     FRICTION_ON,  // 摩擦轮开启
-} shoot_mode_e;
+} friction_mode_e;
 
 typedef enum
 {
@@ -153,7 +152,7 @@ typedef struct
 {
     loader_mode_e load_mode;
     lid_mode_e lid_mode;
-    shoot_mode_e shoot_mode;
+    friction_mode_e friction_mode;
     Bullet_Speed_e bullet_speed; // 弹速枚举
     uint8_t rest_heat;
     float shoot_rate; // 连续发射的射频,unit per s,发/秒

application/shoot/shoot.c

@@ -24,17 +24,17 @@ void ShootInit()
     // 左摩擦轮
     Motor_Init_Config_s left_friction_config = {
         .can_init_config = {
-            .can_handle = &hcan1,
-            .tx_id = 1,
+            .can_handle = &hcan2,
+            .tx_id = 6,
         },
         .controller_param_init_config = {
             .speed_PID = {
-                .Kp=1,
+                .Kp=10,
                 .Ki=0,
                 .Kd=0,
             },
             .current_PID = {
-                .Kp=1,
+                .Kp=10,
                 .Ki=0,
                 .Kd=0,
             },
@@ -51,8 +51,8 @@ void ShootInit()
     // 右摩擦轮
     Motor_Init_Config_s right_friction_config = {
         .can_init_config = {
-            .can_handle = &hcan1,
-            .tx_id = 2,
+            .can_handle = &hcan2,
+            .tx_id = 5,
         },
         .controller_param_init_config = {
             .speed_PID = {
@@ -77,8 +77,8 @@ void ShootInit()
     // 拨盘电机
     Motor_Init_Config_s loader_config = {
         .can_init_config = {
-            .can_handle = &hcan1,
-            .tx_id = 3,
+            .can_handle = &hcan2,
+            .tx_id = 7,
         },
         .controller_param_init_config = {
             .angle_PID = {
@@ -87,11 +87,6 @@ void ShootInit()
                 .Ki = 1,
                 .Kd = 2,
             },
-            .angle_PID = {
-                .Kp=1,
-                .Ki=0,
-                .Kd=0,
-            },
             .speed_PID = {
                 .Kp=1,
                 .Ki=0,