TuxMonkey/half-steering-basic-framework
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changed pid param for steer motor

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fcl
2026-03-14 14:15:41 +08:00
committed by guoxy06
parent 3add7c5eb2
commit 082bf3199a
4 changed files with 22 additions and 20 deletions
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8
application/chassis/chassis.c
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@@ -113,7 +113,7 @@ void ChassisInit()
.can_init_config.can_handle = &hcan1, .can_init_config.can_handle = &hcan1,
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
.Kp = 12, .Kp = 50,//15
.Ki = 0.2, .Ki = 0.2,
.Kd = 0, .Kd = 0,
.CoefA = 3, .CoefA = 3,
@@ -125,7 +125,7 @@ void ChassisInit()
.DeadBand = 0.5, .DeadBand = 0.5,
}, },
.speed_PID = { .speed_PID = {
.Kp = 40, .Kp = 50,//25
.Ki = 3, .Ki = 3,
.Kd = 0, .Kd = 0,
.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement | PID_ChangingIntegrationRate | PID_OutputFilter, .Improve = PID_Integral_Limit | PID_Derivative_On_Measurement | PID_ChangingIntegrationRate | PID_OutputFilter,
@@ -154,7 +154,7 @@ void ChassisInit()
.Kp = 1.05, // 6 .Kp = 1.05, // 6
.Ki = 0, .Ki = 0,
.Kd = 0.1, // 0.495 .Kd = 0.1, // 0.495
.DeadBand = 0.5f,// 启用死区，值为0.5度 // .DeadBand = 0.5f,// 启用死区，值为0.5度
//.CoefA = 0.2, //.CoefA = 0.2,
//.CoefB = 0.3, //.CoefB = 0.3,
//.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement, //.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement,
@@ -412,7 +412,9 @@ void ChassisTask()
{ {
single_round_offset += 360.0f; single_round_offset += 360.0f;
} }
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100; chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
// chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
// chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0)/100; // chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0)/100;
break; 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 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

28
application/cmd/robot_cmd.c
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@@ -84,9 +84,9 @@ void RobotCMDInit()
static void CalcOffsetAngle() static void CalcOffsetAngle()
{ {
static float last_offset_angle = 0; static float last_offset_angle = 0;
const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显 const float smooth_factor = 0.2f; // 平滑因子,0~1之间,值越大平滑效果越明显
const float deadband = 3.0f; // 死区值 //const float deadband = 3.0f; // 死区值
// 新增：跟踪模式变化，用于重置基准角度 // 新增：跟踪模式变化，用于重置基准角度
// static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;// // static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
// //
@@ -108,14 +108,14 @@ static void CalcOffsetAngle()
else if (angle_diff < -180.0f) else if (angle_diff < -180.0f)
new_offset += 360.0f; new_offset += 360.0f;
///// /////
// 应用死区 // // 应用死区
if (fabs(new_offset) < deadband) { // if (fabs(new_offset) < deadband) {
new_offset = 0.0f; // new_offset = 0.0f;
} else if (new_offset > 0) { // } else if (new_offset > 0) {
new_offset -= deadband; // new_offset -= deadband;
} else { // } else {
new_offset += deadband; // new_offset += deadband;
}////// // }//////
chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor; chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
last_offset_angle = chassis_cmd_send.offset_angle; last_offset_angle = chassis_cmd_send.offset_angle;
// // 更新模式状态 // // 更新模式状态
@@ -203,14 +203,14 @@ static void RemoteControlSet()
// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制 // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
if (switch_is_down(rc_data[TEMP].rc.switch_left) ) if (switch_is_down(rc_data[TEMP].rc.switch_left) )
{ // 按照摇杆的输出大小进行角度增量,增益系数需调整 { // 按照摇杆的输出大小进行角度增量,增益系数需调整
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_; gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_r_;
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1; gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_r1;
} }
// 云台软件限位 // 云台软件限位
// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整 // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_l_; // _水平方向
chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_l1; // 1数值方向
// // 发射参数 // // 发射参数
// if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开 // if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开

2
application/gimbal/gimbal.c
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@@ -66,7 +66,7 @@ void GimbalInit()
Motor_Init_Config_s pitch_config = { Motor_Init_Config_s pitch_config = {
.can_init_config = { .can_init_config = {
.can_handle = &hcan2, .can_handle = &hcan2,
.tx_id = 4,//2 .tx_id = 2,//2
}, },
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {

2
application/shoot/shoot.c
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@@ -55,7 +55,7 @@ void ShootInit()
friction_config.can_init_config.tx_id = 1, friction_config.can_init_config.tx_id = 1,
friction_l = DJIMotorInit(&friction_config); friction_l = DJIMotorInit(&friction_config);
friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行 friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
friction_r = DJIMotorInit(&friction_config); friction_r = DJIMotorInit(&friction_config);