TuxMonkey/bf_original_balance_chassis
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修复了遥控器摇杆值解算错误的问题

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This commit is contained in:
NeoZng
2022-12-09 14:21:31 +08:00
parent 9f09002235
commit 02b3af15c7
6 changed files with 28 additions and 34 deletions
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21
application/shoot/shoot.c
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@@ -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,