From 3ebb57d86bb47c94582e078aad8f179ccd74d773 Mon Sep 17 00:00:00 2001 From: guoxy06 <209087794@qq.com> Date: Sun, 15 Mar 2026 16:41:00 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9RectifyRCjoystick()=E6=94=B9?= =?UTF-8?q?=E4=BA=86=E5=B7=A6=E6=91=87=E6=9D=86=E9=99=90=E5=B9=85?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 10 +++++----- application/cmd/robot_cmd.c | 9 ++++----- application/gimbal/gimbal.c | 34 ++++++++++++++++++++++++++------- application/gimbal/gimbal.h | 6 +++--- modules/remote/remote_control.c | 27 ++++++++++++++++++++++---- 5 files changed, 62 insertions(+), 24 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index e43e52a..826dc7d 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -113,14 +113,14 @@ void ChassisInit() .can_init_config.can_handle = &hcan1, .controller_param_init_config = { .angle_PID = { - .Kp = 12, - .Ki = 0.2, + .Kp = 35, + .Ki = 0.25, .Kd = 0, .CoefA = 3, .CoefB = 0.1, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate, - .IntegralLimit = 1000, - .MaxOut = 5000, + .IntegralLimit = 1500, + .MaxOut = 6000, .Derivative_LPF_RC = 0.001, .DeadBand = 0.5, }, @@ -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 = 0.95, // 6 .Ki = 0, .Kd = 0.1, // 0.495 .DeadBand = 0.5f,// 启用死区，值为0.5度 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 1c0e786..2759cdb 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -203,14 +203,13 @@ 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_l_; - gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1; + 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; } // 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_r_; // _水平方向 - chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 + 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 // // 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 diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index e881bd2..62eab7c 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -26,10 +26,10 @@ void GimbalInit() }, .controller_param_init_config = { .angle_PID = { - //.Kp = 0.685, // 8 - .Kp = 0.585, // 8 + //.Kp = 0.785, // 8 + .Kp = 3, // 8 //.Ki = 0.315, - .Ki = 0.25, + .Ki = 0.45, .Kd = 0.03, //.DeadBand = 0.1 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate, @@ -40,9 +40,9 @@ void GimbalInit() .Derivative_LPF_RC = 0.001 }, .speed_PID = { - .Kp = 8000, // 50 + .Kp = 500, // 50 //.Kp = 5000, // 50 - .Ki = 5000, // 200 + .Ki = 2000, // 200 .Kd = 0, .CoefB = 1, .CoefA = 10, @@ -132,7 +132,18 @@ void GimbalTask() DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED); DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈 DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch); - break; + // // 根据底盘速度进行补偿，保持云台稳定 + // // 这里简化处理，实际应用中可能需要更复杂的补偿算法 + // float yaw_ref = gimbal_cmd_recv.yaw; + // float pitch_ref = gimbal_cmd_recv.pitch; + // + // // 当底盘移动时，云台需要保持相对稳定 + // // 这里可以根据底盘速度调整云台的控制参考值 + // // 例如，当底盘向前移动时，云台可能需要稍微向后调整以保持稳定 + // + // DJIMotorSetRef(yaw_motor, yaw_ref); // yaw和pitch会在robot_cmd中处理好多圈和单圈 + // DJIMotorSetRef(pitch_motor, pitch_ref); + break; // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关 case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快) DJIMotorEnable(yaw_motor); @@ -159,4 +170,13 @@ void GimbalTask() // gimbal_feedback_data.yaw_motor_total_angle = gimba_IMU_data->YawTotalAngle; // 推送消息 PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data); -} \ No newline at end of file +} +// /** +// * @brief 获取云台IMU数据指针 +// * +// * @return attitude_t* 云台IMU数据指针 +// */ +// attitude_t *GetGimbalIMUData() +// { +// return gimba_IMU_data; +// } \ No newline at end of file diff --git a/application/gimbal/gimbal.h b/application/gimbal/gimbal.h index 0bcc37e..2ca3a57 100644 --- a/application/gimbal/gimbal.h +++ b/application/gimbal/gimbal.h @@ -1,6 +1,6 @@ #ifndef GIMBAL_H #define GIMBAL_H - +#include "../modules/imu/ins_task.h" /** * @brief 初始化云台,会被RobotInit()调用 * @@ -9,8 +9,8 @@ void GimbalInit(); /** * @brief 云台任务 - * + * @return attitude_t* 云台IMU数据指针 */ void GimbalTask(); - +//attitude_t *GetGimbalIMUData(); #endif // GIMBAL_H \ No newline at end of file diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 0949f6d..45f5dee 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -20,13 +20,32 @@ static DaemonInstance *rc_daemon_instance; * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0 * */ -static void RectifyRCjoystick() +// static void RectifyRCjoystick() +// { +// for (uint8_t i = 0; i < 5; ++i) +// if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660) +// *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0; +// } +static void RectifyRCjoystick()//左遥杆水平向右限幅不够，因为下面的+3，将+3删除就用上面的 { + int16_t *rocker_ptr = &rc_ctrl[TEMP].rc.rocker_l_; for (uint8_t i = 0; i < 5; ++i) - if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660) - *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0; + { + if (i == 0) // 左遥杆水平方向 + { + // 增加右向最大值到700，左向保持660不变 + if (rocker_ptr[i] > 700) + rocker_ptr[i] = 700; + else if (rocker_ptr[i] < -660) + rocker_ptr[i] = -660; + } + else // 其他通道保持原限制 + { + if (abs(rocker_ptr[i]) > 660) + rocker_ptr[i] = 0; + } + } } - /** * @brief 遥控器数据解析 *