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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13
application/gimbal/gimbal.c
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@@ -74,8 +74,8 @@ void GimbalInit()
.MaxOut = 500,
},
.speed_PID = {
.Kp = 50,//40
.Ki = 200,
.Kp = 50,//50
.Ki = 200,//200
.Kd = 0,
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit = 3000,
@@ -111,7 +111,7 @@ void GimbalInit()
.speed_PID = {
.Kp=50,//50
.Ki =350,//350
.Kd =0,//0.1
.Kd =0,//0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit =2500,
.MaxOut = 20000,
@@ -136,7 +136,7 @@ void GimbalInit()
gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}
int aaaaaaa;
/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
void GimbalTask()
{
@@ -178,7 +178,10 @@ void GimbalTask()
default:
break;
}
// if(yaw_motor->motor_measure.total_angle>120)
// {
// aaaaaaa++;
// }
// 在合适的地方添加pitch重力补偿前馈力矩
// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
// ...