TuxMonkey/bf_original_balance_chassis
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增加了debug文档和一些todo

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This commit is contained in:
NeoZng
2023-02-22 13:53:25 +08:00
parent 7bb141af06
commit 3cf1831237
18 changed files with 248 additions and 426 deletions
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7
application/gimbal/gimbal.c
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@@ -19,8 +19,6 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
BMI088Instance* imu;
void GimbalInit()
{
BMI088_Init_Config_s imu_config = {
.spi_acc_config={
.GPIOx=CS1_ACCEL_GPIO_Port,
@@ -56,9 +54,8 @@ void GimbalInit()
.cali_mode=BMI088_CALIBRATE_ONLINE_MODE,
.work_mode=BMI088_BLOCK_PERIODIC_MODE,
};
imu=BMI088Register(&imu_config);
// gimba_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
// imu=BMI088Register(&imu_config);
gimba_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 = {

45
application/shoot/shoot.c
View File

@@ -22,7 +22,7 @@ static float hibernate_time = 0, dead_time = 0;
void ShootInit()
{
// 左摩擦轮
Motor_Init_Config_s left_friction_config = {
Motor_Init_Config_s friction_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 6,
@@ -50,34 +50,12 @@ void ShootInit()
.reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
// 右摩擦轮
Motor_Init_Config_s right_friction_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 5,
},
.controller_param_init_config = {
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
},
.current_PID = {
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
friction_l = DJIMotorInit(&friction_config);
friction_config.can_init_config.tx_id = 5; // 右摩擦轮,改txid和方向就行
friction_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
friction_r = DJIMotorInit(&friction_config);
// 拨盘电机
Motor_Init_Config_s loader_config = {
.can_init_config = {
@@ -99,7 +77,7 @@ void ShootInit()
.MaxOut = 2000,
},
.current_PID = {
.Kp = 10,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 3000,
@@ -113,9 +91,6 @@ void ShootInit()
},
.motor_type = M2006 // 英雄使用m3508
};
friction_l = DJIMotorInit(&left_friction_config);
friction_r = DJIMotorInit(&right_friction_config);
loader = DJIMotorInit(&loader_config);
shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
@@ -206,8 +181,8 @@ void ShootTask()
DJIMotorSetRef(friction_r, 0);
break;
default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
DJIMotorSetRef(friction_l, 4000);
DJIMotorSetRef(friction_r, 4000);
DJIMotorSetRef(friction_l, 1000);
DJIMotorSetRef(friction_r, 1000);
break;
}
}