TuxMonkey/half-steering-basic-framework
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all ok but loader reversed

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fcl
2026-03-19 19:06:29 +08:00
committed by guoxy06
parent 9e7faaca8b
commit 277b3a11c0
2 changed files with 4 additions and 4 deletions
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2
application/chassis/chassis.c
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@@ -82,7 +82,7 @@ void ChassisInit()
.MaxOut = 12000, .MaxOut = 12000,
}, },
.current_PID = { .current_PID = {
.Kp = 1, // 0.4 .Kp = 0.4, // 0.4
.Ki = 0, // 0 .Ki = 0, // 0
.Kd = 0, .Kd = 0,
.IntegralLimit = 10500, .IntegralLimit = 10500,

6
application/shoot/shoot.c
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@@ -68,7 +68,7 @@ void ShootInit()
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降 // 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
.Kp = 0, // 10 .Kp = 10, // 10
.Ki = 0, .Ki = 0,
.Kd = 0, .Kd = 0,
.MaxOut = 200, .MaxOut = 200,
@@ -82,8 +82,8 @@ void ShootInit()
.MaxOut = 5000, .MaxOut = 5000,
}, },
.current_PID = { .current_PID = {
.Kp = 0, // 0.7 .Kp = 0.7, // 0.7
.Ki = 0, // 0.1 .Ki = 0.1, // 0.1
.Kd = 0, .Kd = 0,
.Improve = PID_Integral_Limit, .Improve = PID_Integral_Limit,
.IntegralLimit = 5000, .IntegralLimit = 5000,