TuxMonkey/bf_original_balance_chassis
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优化了点击pid计算流程，修复了bsp未初始化的异常，修复了数个未定义和隐式声明的警告

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This commit is contained in:
NeoZng
2022-12-09 18:25:35 +08:00
parent 02b3af15c7
commit 37c23ddb79
16 changed files with 104 additions and 75 deletions
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6
application/cmd/robot_cmd.c
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@@ -99,8 +99,8 @@ static void RemoteControlSet()
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 += 0.0015f * (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;
gimbal_cmd_send.pitch += 0.002f * (float)rc_data[TEMP].rc.joystick[3];
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
}
// 底盘参数,目前没有加入小陀螺(调试似乎没有必要),系数需要调整
@@ -145,7 +145,7 @@ static void EmergencyHandler()
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.load_mode = SHOOT_STOP;
shoot_cmd_send.shoot_mode = SHOOT_OFF;
return;
}
// if(rc_data[TEMP].rc.joystick[4]<-300 && 各个模块正常)