TuxMonkey/bf_original_balance_chassis
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修改doc存放位置，增加代码静态检查，完成了README文档，修复了.assets图片分辨率低的问题

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This commit is contained in:
NeoZng
2023-07-25 16:12:38 +08:00
parent fa4a78a7a1
commit cdb1d209fc
22 changed files with 210 additions and 81 deletions
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2
application/chassis/chassis.c
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@@ -214,7 +214,7 @@ void ChassisTask()
chassis_cmd_recv.wz = 0;
break;
case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
chassis_cmd_recv.wz = -1.5 * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
chassis_cmd_recv.wz = -1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz = 4000;

23
application/robot_task.h
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@@ -6,6 +6,7 @@
#include "main.h"
#include "cmsis_os.h"
#include "robot.h"
#include "ins_task.h"
#include "motor_task.h"
#include "referee_task.h"
@@ -53,9 +54,10 @@ void OSTaskInit()
HTMotorControlInit(); // 没有注册HT电机则不会执行
}
void StartINSTASK(void const *argument)
__attribute__((noreturn)) void StartINSTASK(void const *argument)
{
static float ins_start, ins_dt;
static float ins_start;
static float ins_dt;
INS_Init(); // 确保BMI088被正确初始化.
LOGINFO("[freeRTOS] INS Task Start");
for (;;)
@@ -71,9 +73,10 @@ void StartINSTASK(void const *argument)
}
}
void StartMOTORTASK(void const *argument)
__attribute__((noreturn)) void StartMOTORTASK(void const *argument)
{
static float motor_dt, motor_start;
static float motor_dt;
static float motor_start;
LOGINFO("[freeRTOS] MOTOR Task Start");
for (;;)
{
@@ -86,9 +89,10 @@ void StartMOTORTASK(void const *argument)
}
}
void StartDAEMONTASK(void const *argument)
__attribute__((noreturn)) void StartDAEMONTASK(void const *argument)
{
static float daemon_dt, daemon_start;
static float daemon_dt;
static float daemon_start;
BuzzerInit();
LOGINFO("[freeRTOS] Daemon Task Start");
for (;;)
@@ -104,9 +108,10 @@ void StartDAEMONTASK(void const *argument)
}
}
void StartROBOTTASK(void const *argument)
__attribute__((noreturn)) void StartROBOTTASK(void const *argument)
{
static float robot_dt, robot_start;
static float robot_dt;
static float robot_start;
LOGINFO("[freeRTOS] ROBOT core Task Start");
// 200Hz-500Hz,若有额外的控制任务如平衡步兵可能需要提升至1kHz
for (;;)
@@ -120,7 +125,7 @@ void StartROBOTTASK(void const *argument)
}
}
void StartUITASK(void const *argument)
__attribute__((noreturn)) void StartUITASK(void const *argument)
{
LOGINFO("[freeRTOS] UI Task Start");
MyUIInit();