TuxMonkey/half-steering-basic-framework
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键鼠模式底盘方向修正，需优化底盘运动

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Zorua
2026-03-25 20:46:56 +08:00
parent b5c8c590f3
commit 4af62739a5
2 changed files with 7 additions and 5 deletions
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4
application/chassis/chassis.c
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@@ -151,7 +151,7 @@ void ChassisInit()
motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config); motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config);
PID_Init_Config_s chassis_follow_pid_conf = { PID_Init_Config_s chassis_follow_pid_conf = {
.Kp = 1.05, // 6 .Kp = 1.2, // 6
.Ki = 0, .Ki = 0,
.Kd = 0.1, // 0.495 .Kd = 0.1, // 0.495
.DeadBand = 0.5f,// 启用死区，值为0.5度 .DeadBand = 0.5f,// 启用死区，值为0.5度
@@ -159,7 +159,7 @@ void ChassisInit()
//.CoefB = 0.3, //.CoefB = 0.3,
//.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement, //.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement,
//.IntegralLimit = 50, // 200 //.IntegralLimit = 50, // 200
.MaxOut = 45, .MaxOut = 50,
//.Derivative_LPF_RC = 0.01, // 0.01 //.Derivative_LPF_RC = 0.01, // 0.01
}; };
PIDInit(&chassis_follow_pid, &chassis_follow_pid_conf); PIDInit(&chassis_follow_pid, &chassis_follow_pid_conf);

8
application/cmd/robot_cmd.c
View File

@@ -243,12 +243,14 @@ static void RemoteControlSet()
*/ */
static void MouseKeySet() static void MouseKeySet()
{ {
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测 // chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300; // chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 40 - rc_data[TEMP].key[KEY_PRESS].d * 40; // w向前，s向后
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 40 - rc_data[TEMP].key[KEY_PRESS].s * 40; // a向左，d向右
gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测 gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10; gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
// 云台软件限位 // 云台软件限位
if (gimbal_cmd_send.pitch > PITCH_MAX_ANGLE) if (gimbal_cmd_send.pitch > PITCH_MAX_ANGLE)
gimbal_cmd_send.pitch = PITCH_MAX_ANGLE; gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;