TuxMonkey/half-steering-basic-framework
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半舵旗舰版

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guoxy06
2026-05-26 19:43:23 +08:00
parent 72df1a2654
commit 2b18d60476
4 changed files with 15 additions and 15 deletions
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2
application/chassis/chassis.c
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@@ -427,7 +427,7 @@ void ChassisTask() {
{ {
// 补偿系数 K 需要实车微调。 // 补偿系数 K 需要实车微调。
// 根据你的描述 wz=0.95 时偏差约45度，初始 K 值可以设为 45.0 / 0.95 ≈ 47.3f // 根据你的描述 wz=0.95 时偏差约45度，初始 K 值可以设为 45.0 / 0.95 ≈ 47.3f
float lag_compensation_K = 45.0f;//47.3f; float lag_compensation_K = 47.3f;//47.3f;45.0f
// 符号(+或-)取决于你的电机正方向、底盘旋转正方向，如果不正就改成减号 // 符号(+或-)取决于你的电机正方向、底盘旋转正方向，如果不正就改成减号
real_offset_angle -= (chassis_cmd_recv.wz * lag_compensation_K); real_offset_angle -= (chassis_cmd_recv.wz * lag_compensation_K);

22
application/gimbal/gimbal.c
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@@ -85,12 +85,12 @@ void GimbalInit()
// }, // },
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
.Kp = 0.75, //0.55 .Kp = 0.53, //0.55
.Ki = 0.05,//0.05 .Ki = 0.1,//0.05
.Kd = 0.02,//0.02 .Kd = 0.0148,//0.02
.CoefA =0.5,//0.5 .CoefA =0.5,//0.5
.CoefB = 0.6,//0.6 .CoefB = 0.6,//0.6
.Output_LPF_RC = 0.01, .Output_LPF_RC = 0.0068,
.DeadBand = 0.005,//0.02 .DeadBand = 0.005,//0.02
.Derivative_LPF_RC=0.01,//0.008 .Derivative_LPF_RC=0.01,//0.008
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter, .Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter,
@@ -98,15 +98,15 @@ void GimbalInit()
.MaxOut = 600, .MaxOut = 600,
}, },
.speed_PID = { .speed_PID = {
.Kp = 500,//22000 .Kp = 3400,//22000
.Ki = 0,// .Ki = 15,//
.Kd =0.0005, .Kd =1,
// .CoefA = 0.8, .CoefA = 0.8,
// .CoefB = 0.1, .CoefB = 0.1,
.Output_LPF_RC = 0.002,//0.002 .Output_LPF_RC = 0.002,//0.002
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter, .Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter,
.IntegralLimit = 5000, .IntegralLimit = 6000,
.MaxOut = 20000, .MaxOut = 30000,
}, },
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch, .other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明 // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明

4
application/robot_def.h
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@@ -35,8 +35,8 @@
// #define CHASSIS_OMNI_WHEEL // 是否为全向轮底盘 // #define CHASSIS_OMNI_WHEEL // 是否为全向轮底盘
// #define CHASSIS_MCNAMEE_WHEEL // 是否为麦克纳姆轮底盘 // #define CHASSIS_MCNAMEE_WHEEL // 是否为麦克纳姆轮底盘
#define CHASSIS_STEERING_WHEEL // 是否为舵轮 #define CHASSIS_STEERING_WHEEL // 是否为舵轮
#define STEERING_CHASSIS_ALIGN_ECD_RF 7330 // 舵电机 A 编码器值，若有机械改动需要修改 #define STEERING_CHASSIS_ALIGN_ECD_RF 7066 // 舵电机 A 编码器值，若有机械改动需要修改
#define STEERING_CHASSIS_ALIGN_ECD_LB 5099 // 舵电机 D 编码器值，若有机械改动需要修改 #define STEERING_CHASSIS_ALIGN_ECD_LB 7138 // 舵电机 D 编码器值，若有机械改动需要修改
#define STEERING_CHASSIS_ALIGN_ANGLE_RF STEERING_CHASSIS_ALIGN_ECD_RF / 8192.f * 360.f // 舵轮 A 对齐角度 #define STEERING_CHASSIS_ALIGN_ANGLE_RF STEERING_CHASSIS_ALIGN_ECD_RF / 8192.f * 360.f // 舵轮 A 对齐角度
#define STEERING_CHASSIS_ALIGN_ANGLE_LB STEERING_CHASSIS_ALIGN_ECD_LB / 8192.f * 360.f // 舵轮 D 对齐角度 #define STEERING_CHASSIS_ALIGN_ANGLE_LB STEERING_CHASSIS_ALIGN_ECD_LB / 8192.f * 360.f // 舵轮 D 对齐角度

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_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.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.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_+1.5; rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_+5.5;
// 左侧拨轮 // 左侧拨轮
RectifyRCjoystick(); RectifyRCjoystick();
// 开关,0左1右 // 开关,0左1右