TuxMonkey/half-steering-basic-framework
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reset again pro

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fcl
2026-03-07 19:52:36 +08:00
parent f41a2f3a4a
commit a99307cd04
5 changed files with 43 additions and 10 deletions
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2
application/chassis/chassis.c
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@@ -154,7 +154,7 @@ void ChassisInit()
.Kp = 6, // 6
.Ki = 0,
.Kd = 0.495, // 0.5
// .DeadBand = 0.5f,
.DeadBand = 0.5f,// 启用死区，值为0.5度
//.CoefA = 0.2,
//.CoefB = 0.3,
//.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement,

32
application/cmd/robot_cmd.c
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@@ -80,11 +80,24 @@ void RobotCMDInit()
* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
* 单圈绝对角度的范围是0~360,说明文档中有图示
*
*/
*/static float base_total_angle = 0.0f; // 用于计算偏移的基准角度
static void CalcOffsetAngle()
{
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 deadband = 0.5f; // 死区值
// 新增：跟踪模式变化，用于重置基准角度
static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
// 当从旋转模式切换到跟随模式时，重置基准角度
if (last_chassis_mode == CHASSIS_ROTATE && chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW)
{
base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
last_offset_angle = 0.0f; // 同时重置历史偏移值
}
float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE;
#if YAW_ECD_GREATER_THAN_4096
new_offset = -new_offset;
@@ -94,8 +107,25 @@ static void CalcOffsetAngle()
new_offset -= 360.0f;
else if (angle_diff < -180.0f)
new_offset += 360.0f;
/////
// 应用死区
//if (fabs(new_offset) < deadband) {
// new_offset = 0.0f;
// } else if (new_offset > 0) {
// new_offset -= deadband;
//} else {
// new_offset += deadband;
//}//////
chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
last_offset_angle = chassis_cmd_send.offset_angle;
// 更新模式状态
last_chassis_mode = chassis_cmd_send.chassis_mode;
// 当处于旋转模式时，更新基准角度以防止累积过大误差
if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE)
{
base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
}
// static float angle;
// static float last_diff = 0.0f; // 用于在±180°附近保持上次符号，避免来回跳变
// /* 使用 yaw 电机的单圈角度与 `YAW_ALIGN_ANGLE` 对齐（保持原实现的参考系）

9
application/gimbal/gimbal.c
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@@ -26,8 +26,10 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.685, // 8
.Ki = 0.315,
//.Kp = 0.685, // 8
.Kp = 0.6, // 8
//.Ki = 0.315,
.Ki = 0.25,
.Kd = 0.022,
//.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate,
@@ -39,6 +41,7 @@ void GimbalInit()
},
.speed_PID = {
.Kp = 8000, // 50
//.Kp = 5000, // 50
.Ki = 5000, // 200
.Kd = 0,
.CoefB = 1,
@@ -93,7 +96,7 @@ void GimbalInit()
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = GM6020,
.motor_type = M3508,
};
// 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
yaw_motor = DJIMotorInit(&yaw_config);

4
application/robot_def.h
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@@ -35,8 +35,8 @@
// #define CHASSIS_OMNI_WHEEL // 是否为全向轮底盘
// #define CHASSIS_MCNAMEE_WHEEL // 是否为麦克纳姆轮底盘
#define CHASSIS_STEERING_WHEEL // 是否为舵轮
#define STEERING_CHASSIS_ALIGN_ECD_RF 7294 // 舵电机 A 编码器值，若有机械改动需要修改
#define STEERING_CHASSIS_ALIGN_ECD_LB 1221 // 舵电机 D 编码器值，若有机械改动需要修改
#define STEERING_CHASSIS_ALIGN_ECD_RF 7367 // 舵电机 A 编码器值，若有机械改动需要修改
#define STEERING_CHASSIS_ALIGN_ECD_LB 1195 // 舵电机 D 编码器值，若有机械改动需要修改
#define STEERING_CHASSIS_ALIGN_ANGLE_RF STEERING_CHASSIS_ALIGN_ECD_RF / 8192.f * 360.f // 舵轮 A 对齐角度
#define STEERING_CHASSIS_ALIGN_ANGLE_LB STEERING_CHASSIS_ALIGN_ECD_LB / 8192.f * 360.f // 舵轮 D 对齐角度

2
application/shoot/shoot.c
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@@ -96,7 +96,7 @@ void ShootInit()
.close_loop_type = CURRENT_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
},
.motor_type = M2006 // 英雄使用m3508
.motor_type = M3508 // 英雄使用m3508
};
loader = DJIMotorInit(&loader_config);