From 1f4e8d85b9de7899600ab1d1a36b9fcfdfee5bcc Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Wed, 25 Mar 2026 20:46:56 +0800 Subject: [PATCH] =?UTF-8?q?=E9=94=AE=E9=BC=A0=E6=A8=A1=E5=BC=8F=E5=BA=95?= =?UTF-8?q?=E7=9B=98=E6=96=B9=E5=90=91=E4=BF=AE=E6=AD=A3=EF=BC=8C=E9=9C=80?= =?UTF-8?q?=E4=BC=98=E5=8C=96=E5=BA=95=E7=9B=98=E8=BF=90=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 4 ++-- application/cmd/robot_cmd.c | 8 +++++--- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 4f885a6..b462c0b 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -151,7 +151,7 @@ void ChassisInit() motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config); PID_Init_Config_s chassis_follow_pid_conf = { - .Kp = 1.05, // 6 + .Kp = 1.2, // 6 .Ki = 0, .Kd = 0.1, // 0.495 .DeadBand = 0.5f,// 启用死区，值为0.5度 @@ -159,7 +159,7 @@ void ChassisInit() //.CoefB = 0.3, //.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement, //.IntegralLimit = 50, // 200 - .MaxOut = 45, + .MaxOut = 50, //.Derivative_LPF_RC = 0.01, // 0.01 }; PIDInit(&chassis_follow_pid, &chassis_follow_pid_conf); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 09b1cd1..7cf6724 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -243,12 +243,14 @@ static void RemoteControlSet() */ static void MouseKeySet() { - chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测 - chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300; + // chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测 + // chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300; + chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 40 - rc_data[TEMP].key[KEY_PRESS].d * 40; // w向前，s向后 + chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 40 - rc_data[TEMP].key[KEY_PRESS].s * 40; // a向左，d向右 gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测 gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10; - + // 云台软件限位 if (gimbal_cmd_send.pitch > PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;