TuxMonkey/bf_original_balance_chassis
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完成了LKmotor模块的重构，优化了DJIMotor的反馈计算

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This commit is contained in:
NeoZng
2022-12-11 20:48:24 +08:00
parent 78cc27ee1a
commit 2f41e67de0
15 changed files with 274 additions and 245 deletions
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17
application/shoot/shoot.c
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@@ -32,10 +32,10 @@ void ShootInit()
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 2000,
},
.current_PID = {
.Kp = 10,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
@@ -61,10 +61,10 @@ void ShootInit()
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 2000,
},
.current_PID = {
.Kp = 5,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
@@ -200,8 +200,8 @@ void ShootTask()
DJIMotorSetRef(friction_r, 0);
break;
default:
DJIMotorSetRef(friction_l, 200);
DJIMotorSetRef(friction_r, 200);
DJIMotorSetRef(friction_l, 4000);
DJIMotorSetRef(friction_r, 4000);
break;
} // 关闭摩擦轮
if (shoot_cmd_recv.friction_mode==FRICTION_OFF)
@@ -210,8 +210,6 @@ void ShootTask()
DJIMotorSetRef(friction_r, 0);
}
// 开关弹舱盖
if (shoot_cmd_recv.lid_mode == LID_CLOSE)
{
@@ -221,4 +219,7 @@ void ShootTask()
{
//...
}
// 反馈数据
PubPushMessage(shoot_pub,(void*)&shoot_feedback_data);
}