TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

发布beta版本,目前基本功能都可用

Browse Source
This commit is contained in:
NeoZng
2022-12-11 14:59:45 +08:00
parent 37c23ddb79
commit 78cc27ee1a
19 changed files with 320 additions and 115 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
application/gimbal/gimbal.c
View File

@@ -54,21 +54,21 @@ void GimbalInit()
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 3,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 10,
.Kp = 30,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
.MaxOut = 4000,
.DeadBand=0.3,
},
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
.MaxOut = 4000,
},
.other_angle_feedback_ptr = &Gimbal_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针
@@ -117,6 +117,8 @@ void GimbalTask()
break;
// 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
case GIMBAL_GYRO_MODE:
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
@@ -126,6 +128,8 @@ void GimbalTask()
break;
// 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
case GIMBAL_FREE_MODE:
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, MOTOR_FEED);
@@ -153,8 +157,8 @@ void GimbalTask()
// 设置反馈数据
gimbal_feedback_data.gimbal_imu_data = *Gimbal_IMU_data;
gimbal_feedback_data.yaw_motor_single_round_angle = pitch_motor->motor_measure.angle_single_round;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->motor_measure.angle_single_round;
// 推送消息
// 推送消息
PubPushMessage(gimbal_pub, &gimbal_feedback_data);
}