TuxMonkey/half-steering-basic-framework
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Zorua
2026-01-17 18:39:27 +08:00
parent 26f210da12
commit 734d04ec10
4 changed files with 6 additions and 6 deletions
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6
application/chassis/chassis.c
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@@ -151,10 +151,10 @@ void ChassisInit()
motor_steering_lf = DJIMotorInit(&chassis_motor_steering_config); motor_steering_lf = DJIMotorInit(&chassis_motor_steering_config);
PID_Init_Config_s chassis_follow_pid_conf = { PID_Init_Config_s chassis_follow_pid_conf = {
.Kp = 20, // 6 .Kp = 6, // 6
.Ki = 0, .Ki = 0,
.Kd = 3, // 0.5 .Kd = 0.495, // 0.5
.DeadBand = 0.5f, // .DeadBand = 0.5f,
//.CoefA = 0.2, //.CoefA = 0.2,
//.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,

2
application/cmd/robot_cmd.c
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@@ -85,7 +85,7 @@ static void CalcOffsetAngle()
static float last_offset_angle = 0; static float last_offset_angle = 0;
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 smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显
float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE; float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE;
#if YAW_CHASSIS_REVERSE #if YAW_ECD_GREATER_THAN_4096
new_offset = -new_offset; new_offset = -new_offset;
#endif #endif
float angle_diff = new_offset - last_offset_angle; float angle_diff = new_offset - last_offset_angle;

2
application/gimbal/gimbal.c
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@@ -56,7 +56,7 @@ void GimbalInit()
.speed_feedback_source = OTHER_FEED, .speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP, .outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP, .close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
}, },
.motor_type = GM6020}; .motor_type = GM6020};
// PITCH // PITCH

2
application/robot_def.h
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@@ -27,7 +27,7 @@
/* 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 */ /* 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 // 云台参数
#define YAW_CHASSIS_ALIGN_ECD 8192 // 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 8192 // 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 YAW_ECD_GREATER_THAN_4096 1 // 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_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 0 // 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) #define PITCH_MAX_ANGLE 0 // 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)
#define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) #define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)