TuxMonkey/half-steering-basic-framework
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guoxy06
2026-03-27 18:43:40 +08:00
parent 300048362f
commit 0eae0777ca
4 changed files with 39 additions and 13 deletions
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6
application/shoot/shoot.c
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@@ -163,7 +163,7 @@ void ShootTask()
case LOAD_1_BULLET:
DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环
static float target_angle = -1900;
target_angle += 51*36;
target_angle += 51.2*36;
//float target_angle = loader->measure.total_angle + 51*36;
DJIMotorSetRef(loader, target_angle);
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
@@ -176,9 +176,9 @@ void ShootTask()
// hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
// dead_time = 300; // 完成3发弹丸发射的时间
// break;
DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环
DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环.
//static float target_angle = -1872;
target_angle += (51*36)*3;
target_angle += (51.2*36)*3;
//float target_angle = loader->measure.total_angle + 51*36;
DJIMotorSetRef(loader, target_angle);
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间