TuxMonkey/half-steering-basic-framework
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/half-steering-basic-framework synced 2026-10-23 17:42:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

修改RectifyRCjoystick()改了左摇杆限幅

Browse Source
This commit is contained in:
guoxy06
2026-03-15 16:41:00 +08:00
parent 4ac9cba1d7
commit 3ebb57d86b
5 changed files with 62 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
application/chassis/chassis.c
View File

@@ -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