TuxMonkey/half-steering-basic-framework
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待测版本（ID修改完成）

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fcl
2026-03-11 19:44:53 +08:00
committed by guoxy06
parent 1a537d7f79
commit 933e86e1bb
2 changed files with 3 additions and 3 deletions
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4
application/gimbal/gimbal.c
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@@ -27,10 +27,10 @@ void GimbalInit()
.controller_param_init_config = {
.angle_PID = {
//.Kp = 0.685, // 8
.Kp = 0.685, // 8
.Kp = 0.585, // 8
//.Ki = 0.315,
.Ki = 0.25,
.Kd = 0.022,
.Kd = 0.03,
//.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate,
.IntegralLimit = 1060,

2
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 3938 // 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 1190 // 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 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)