TuxMonkey/half-steering-basic-framework
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damiao motor driver init_1

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Zorua
2026-03-15 12:52:05 +08:00
parent fbc83771a8
commit 3afa755680
7 changed files with 53 additions and 54 deletions
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28
application/cmd/robot_cmd.c
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@@ -84,9 +84,9 @@ void RobotCMDInit()
static void CalcOffsetAngle()
{
static float last_offset_angle = 0;
const float smooth_factor = 0.2f; // 平滑因子,0~1之间,值越大平滑效果越明显
const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显
//const float deadband = 3.0f; // 死区值
const float deadband = 3.0f; // 死区值
// 新增：跟踪模式变化，用于重置基准角度
// static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
//
@@ -108,14 +108,14 @@ static void CalcOffsetAngle()
else if (angle_diff < -180.0f)
new_offset += 360.0f;
/////
// // 应用死区
// if (fabs(new_offset) < deadband) {
// new_offset = 0.0f;
// } else if (new_offset > 0) {
// new_offset -= deadband;
// } else {
// new_offset += deadband;
// }//////
// 应用死区
if (fabs(new_offset) < deadband) {
new_offset = 0.0f;
} else if (new_offset > 0) {
new_offset -= deadband;
} else {
new_offset += deadband;
}//////
chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
last_offset_angle = chassis_cmd_send.offset_angle;
// // 更新模式状态
@@ -203,14 +203,14 @@ static void RemoteControlSet()
// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
if (switch_is_down(rc_data[TEMP].rc.switch_left) )
{ // 按照摇杆的输出大小进行角度增量,增益系数需调整
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_r_;
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_r1;
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
}
// 云台软件限位
// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_l_; // _水平方向
chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_l1; // 1数值方向
chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
// // 发射参数
// if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开