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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32
application/gimbal/gimbal.c
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@@ -16,24 +16,27 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自gimbal_cmd的控制信息
void GimbalInit()
{
Gimbal_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// Gimbal_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 1,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
.DeadBand=0.3,
},
.speed_PID = {
.Kd = 1,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
},
.other_angle_feedback_ptr = &Gimbal_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针
@@ -44,25 +47,28 @@ void GimbalInit()
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = GM6020};
// PITCH
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
.tx_id = 3,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
.Kd = 1,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
.DeadBand=0.3,
},
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
},
.other_angle_feedback_ptr = &Gimbal_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针
@@ -73,7 +79,7 @@ void GimbalInit()
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = GM6020,
};