From ab0f770723bbc4a49d4b026f99918d1abfc7fbac Mon Sep 17 00:00:00 2001
From: fcl <2136892861@qq.com>
Date: Thu, 19 Mar 2026 18:27:03 +0800
Subject: [PATCH] fricok butcant stop instantly.loader failure

---
 application/cmd/robot_cmd.c | 11 ++++++++---
 application/shoot/shoot.c   | 32 ++++++++++++++++----------------
 2 files changed, 24 insertions(+), 19 deletions(-)

diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 94e1188..9d3f418 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -373,15 +373,20 @@ void RobotCMDTask() {
     // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
     if (switch_is_down(rc_data[TEMP].rc.switch_left)){ // 遥控器左侧开关状态为[下],遥控器控制
         RemoteControlSet();
-    shoot_cmd_send.shoot_mode =SHOOT_OFF;
-}
+        shoot_cmd_send.shoot_mode =SHOOT_OFF;
+        shoot_cmd_send.friction_mode = FRICTION_OFF;
+    }
     else if (switch_is_up(rc_data[TEMP].rc.switch_left)) {
         // 遥控器左侧开关状态为[上],键盘控制
         MouseKeySet();
         shoot_cmd_send.shoot_mode =SHOOT_OFF;
     }
-    else if (switch_is_mid( rc_data[TEMP].rc.switch_left)) {
+    else if (switch_is_mid(rc_data[TEMP].rc.switch_left)) {
+        // 遥控器左侧开关状态为[中],视觉模式，使用遥控器控制底盘和云台，同时开启发射系统
+        RemoteControlSet();
         shoot_cmd_send.shoot_mode =SHOOT_ON;
+        shoot_cmd_send.bullet_speed = 30;
+        shoot_cmd_send.friction_mode = FRICTION_ON;
     }
     EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
 
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index cf52c92..33d8f8e 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -28,15 +28,15 @@ void ShootInit()
         .controller_param_init_config = {
             .speed_PID = {
                 .Kp = 20, // 20
-                .Ki = 0, // 1
+                .Ki = 1, // 1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
                 .IntegralLimit = 10000,
                 .MaxOut = 15000,
             },
             .current_PID = {
-                .Kp = 0, // 0.7
-                .Ki = 0, // 0.1
+                .Kp = 0.7, // 0.7
+                .Ki = 0.1, // 0.1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
                 .IntegralLimit = 10000,
@@ -52,13 +52,13 @@ void ShootInit()
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
         .motor_type = M3508};
-    friction_config.can_init_config.tx_id = 8,
-    friction_l = DJIMotorInit(&friction_config);
-
-    friction_config.can_init_config.tx_id = 5; // 右摩擦轮,改txid和方向就行
-    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
+    friction_config.can_init_config.tx_id = 5,
     friction_r = DJIMotorInit(&friction_config);
 
+    friction_config.can_init_config.tx_id = 8; // 左摩擦轮,改txid和方向就行
+    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
+    friction_l = DJIMotorInit(&friction_config);
+
     // 拨盘电机
     Motor_Init_Config_s loader_config = {
         .can_init_config = {
@@ -74,8 +74,8 @@ void ShootInit()
                 .MaxOut = 200,
             },
             .speed_PID = {
-                .Kp = 0, // 10
-                .Ki = 0, // 1
+                .Kp = 10, // 10
+                .Ki = 1, // 1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
                 .IntegralLimit = 5000,
@@ -175,16 +175,16 @@ void ShootTask()
         switch (shoot_cmd_recv.bullet_speed)
         {
         case SMALL_AMU_15:
-            DJIMotorSetRef(friction_l, 0);
-            DJIMotorSetRef(friction_r, 0);
+            DJIMotorSetRef(friction_l, 30000);
+            DJIMotorSetRef(friction_r, 30000);
             break;
         case SMALL_AMU_18:
-            DJIMotorSetRef(friction_l, 0);
-            DJIMotorSetRef(friction_r, 0);
+            DJIMotorSetRef(friction_l, 30000);
+            DJIMotorSetRef(friction_r, 30000);
             break;
         case SMALL_AMU_30:
-            DJIMotorSetRef(friction_l, 0);
-            DJIMotorSetRef(friction_r, 0);
+            DJIMotorSetRef(friction_l, 50000);
+            DJIMotorSetRef(friction_r, 50000);
             break;
         default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
             DJIMotorSetRef(friction_l, 30000);