TuxMonkey/half-steering-basic-framework
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待测版本（ID修改完成）

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fcl
2026-03-10 19:10:47 +08:00
committed by guoxy06
parent 42c26fa8ac
commit 1a537d7f79
4 changed files with 12 additions and 12 deletions
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2
application/gimbal/gimbal.c
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@@ -66,7 +66,7 @@ void GimbalInit()
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 4,
.tx_id = 4,//2
},
.controller_param_init_config = {
.angle_PID = {

8
application/shoot/shoot.c
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@@ -52,10 +52,10 @@ void ShootInit()
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
friction_config.can_init_config.tx_id = 1,
friction_config.can_init_config.tx_id = 5,
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 = 8; // 右摩擦轮,改txid和方向就行
friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
friction_r = DJIMotorInit(&friction_config);
@@ -63,7 +63,7 @@ void ShootInit()
Motor_Init_Config_s loader_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 5,
.tx_id = 7,
},
.controller_param_init_config = {
.angle_PID = {
@@ -96,7 +96,7 @@ void ShootInit()
.close_loop_type = CURRENT_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
},
.motor_type = M3508 // 英雄使用m3508
.motor_type = M2006 // 英雄使用m3508
};
loader = DJIMotorInit(&loader_config);

12
modules/algorithm/controller.c
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@@ -61,10 +61,10 @@ static void f_Integral_Limit(PIDInstance *pid)
}
// 微分先行(仅使用反馈值而不计参考输入的微分)
static void f_Derivative_On_Measurement(PIDInstance *pid)
{
pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
}
// static void f_Derivative_On_Measurement(PIDInstance *pid)
// {
// pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
// }
// 微分滤波(采集微分时,滤除高频噪声)
static void f_Derivative_Filter(PIDInstance *pid)
@@ -172,8 +172,8 @@ float PIDCalculate(PIDInstance *pid, float measure, float ref)
if (pid->Improve & PID_ChangingIntegrationRate)
f_Changing_Integration_Rate(pid);
// 微分先行
if (pid->Improve & PID_Derivative_On_Measurement)
f_Derivative_On_Measurement(pid);
// if (pid->Improve & PID_Derivative_On_Measurement)
// f_Derivative_On_Measurement(pid);
// 微分滤波器
if (pid->Improve & PID_DerivativeFilter)
f_Derivative_Filter(pid);

2
modules/remote/remote_control.c
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@@ -40,7 +40,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 3
rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_;
rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_+30;
// 左侧拨轮
RectifyRCjoystick();
// 开关,0左1右