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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53
application/shoot/shoot.c
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@@ -29,14 +29,16 @@ void ShootInit()
},
.controller_param_init_config = {
.speed_PID = {
.Kp=10,
.Ki=0,
.Kd=0,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
.current_PID = {
.Kp=10,
.Ki=0,
.Kd=0,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
},
.controller_setting_init_config = {
@@ -56,14 +58,16 @@ void ShootInit()
},
.controller_param_init_config = {
.speed_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
.current_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
},
.controller_setting_init_config = {
@@ -83,19 +87,22 @@ void ShootInit()
.controller_param_init_config = {
.angle_PID = {
// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
.Kd = 10,
.Kp = 10,
.Ki = 1,
.Kd = 2,
.MaxOut = 200,
},
.speed_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
.current_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
},
.controller_setting_init_config = {
@@ -121,7 +128,7 @@ void ShootTask()
SubGetMessage(shoot_sub, &shoot_cmd_recv);
// 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机
if (shoot_cmd_recv.load_mode == SHOOT_STOP)
if (shoot_cmd_recv.shoot_mode == SHOOT_OFF)
{
DJIMotorStop(friction_l);
DJIMotorStop(friction_r);
@@ -175,15 +182,15 @@ void ShootTask()
{
case SMALL_AMU_15:
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_r, 0);
break;
case SMALL_AMU_18:
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_r, 0);
break;
case SMALL_AMU_30:
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_r, 0);
break;
default:
break;