TuxMonkey/half-steering-basic-framework
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方案——赛场_1.1

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guoxy06
2026-04-03 03:22:10 +08:00
parent d1d5698c13
commit 69b407db26
4 changed files with 55 additions and 10 deletions
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5
application/robot_def.h
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@@ -26,7 +26,7 @@
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
// 云台参数
#define YAW_CHASSIS_ALIGN_ECD 510 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_CHASSIS_ALIGN_ECD -3686 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 30 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
@@ -208,7 +208,8 @@ typedef struct
{
attitude_t gimbal_imu_data;
uint16_t yaw_motor_single_round_angle;
uint16_t yaw_motor_total_angle;
//uint16_t yaw_motor_total_angle;
float yaw_motor_total_angle;
} Gimbal_Upload_Data_s;
typedef struct