TuxMonkey/bf_original_balance_chassis
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曾家键鼠控制

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chenfu
2023-03-27 22:03:35 +08:00
parent cce87bcccd
commit 7e6a3673fb
8 changed files with 193 additions and 81 deletions
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12
application/chassis/chassis.c
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@@ -19,7 +19,7 @@
// referee需要移动到module层
/////////////////////////
#include "referee.h"
#include "rm_referee.h"
/////////////////////////
@@ -68,16 +68,16 @@ void ChassisInit()
.can_init_config.can_handle = &hcan1,
.controller_param_init_config = {
.speed_PID = {
.Kp = 4.5,//9
.Ki = 0,//0.02
.Kd = 0.01,//0.01
.Kp = 10,//4.5
.Ki = 0,//0
.Kd = 0,//0
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.MaxOut = 12000,
},
.current_PID = {
.Kp = 0.4,//0.7
.Ki = 0,//0.1
.Kp = 0.5,//0.4
.Ki = 0,//0
.Kd = 0,
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,