TuxMonkey/half-steering-basic-framework
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/half-steering-basic-framework synced 2026-10-23 17:42:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

单发模式前几发会连发，后续正常，先急停再启动也会出现相同问题

Browse Source
This commit is contained in:
guoxy06
2026-03-23 21:01:33 +08:00
parent 7be687982b
commit b5c8c590f3
4 changed files with 58 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
application/cmd/robot_cmd.c
View File

@@ -341,7 +341,7 @@ static void EmergencyHandler()
{ {
robot_state = ROBOT_STOP; robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
gimbal_cmd_send.yaw = 0; gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;;//0
gimbal_cmd_send.pitch = 0; gimbal_cmd_send.pitch = 0;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode = SHOOT_OFF; shoot_cmd_send.shoot_mode = SHOOT_OFF;

4
application/gimbal/gimbal.c
View File

@@ -78,10 +78,10 @@ void GimbalInit()
.MaxOut = 1000, .MaxOut = 1000,
}, },
.speed_PID = { .speed_PID = {
.Kp = 80, // 50 .Kp = 70, // 50
.Ki = 15, // 350 .Ki = 15, // 350
.Kd = 0.6, // 0 .Kd = 0.6, // 0
.MaxOut = 30000,//20000 .MaxOut = 20000,//20000
}, },
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch, .other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明 // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明

94
application/shoot/shoot.c
View File

@@ -68,35 +68,32 @@ void ShootInit()
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降 // 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
.Kp = 50, .Kp = 12, // 10
.Ki = 0, .Ki = 5,
.Kd = 0, .Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ErrorHandle, .MaxOut = 10000,
.IntegralLimit = 10000,
.MaxOut = 15000,
.Derivative_LPF_RC = 0.01,
}, },
.speed_PID = { .speed_PID = {
.Kp = 5, // 10 .Kp = 3, // 10
.Ki = 100, // 1 .Ki = 10, // 1
.Kd = 0, .Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Integral_Limit,
.IntegralLimit = 10000, .IntegralLimit = 250,
.MaxOut = 15000, .MaxOut = 10000,
}, },
.current_PID = { .current_PID = {
.Kp = 0.7, // 0.7 .Kp = 1.5, // 0.7
.Ki = 0, // 0.1 .Ki = 0, // 0.1
.Kd = 0, .Kd = 0,
.Improve = PID_Integral_Limit, .Improve = PID_Integral_Limit,
.IntegralLimit = 10000, .IntegralLimit = 5000,
.MaxOut = 15000, .MaxOut = 10000,
}, },
}, },
.controller_setting_init_config = { .controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转 .outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转
.close_loop_type = CURRENT_LOOP | SPEED_LOOP| ANGLE_LOOP, .close_loop_type = ANGLE_LOOP | SPEED_LOOP|CURRENT_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE, // 注意方向设置为拨盘的拨出的击发方向 .motor_reverse_flag = MOTOR_DIRECTION_REVERSE, // 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 = M2006 // 英雄使用m3508
@@ -141,17 +138,36 @@ void ShootTask()
DJIMotorSetRef(loader, 0); // 同时设定参考值为0,这样停止的速度最快 DJIMotorSetRef(loader, 0); // 同时设定参考值为0,这样停止的速度最快
break; break;
// 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射) // 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射)
case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用. // case LOAD_1_BULLET:
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环 // DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
static float last_target_angle = 0; // 存储上次的目标角度 // static float last_target_angle = 0; // 存储上次的目标角度
if (dead_time == 0) { // 第一次触发 // if (dead_time == 0) { // 第一次触发
last_target_angle = loader->measure.total_angle; // last_target_angle = loader->measure.total_angle;
} // }
last_target_angle += ONE_BULLET_DELTA_ANGLE * REDUCTION_RATIO_LOADER; // 每次都在上次目标角度基础上增加固定角度 // last_target_angle += ONE_BULLET_DELTA_ANGLE * REDUCTION_RATIO_LOADER; // 每次都在上次目标角度基础上增加固定角度
DJIMotorSetRef(loader, last_target_angle); // DJIMotorSetRef(loader, last_target_angle);
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 // hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = shoot_cmd_recv.dead_time; // 完成1发弹丸发射的时间 // dead_time = shoot_cmd_recv.dead_time; // 完成1发弹丸发射的时间
break; // break;
// case LOAD_1_BULLET:
// DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环
// DJIMotorSetRef(loader, loader->measure.total_angle+51*36);
// //DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE);
// // 控制量增加一发弹丸的角度，其中90为36减速比*1.5
// hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
// dead_time = 1000; // 完成1发弹丸发射的时间
// // 记录触发指令的时间
// //dead_time = 500;
// // 完成1发弹丸发射的时间
// break;
case LOAD_1_BULLET:
DJIMotorOuterLoop(loader, ANGLE_LOOP);// 切换到角度环
static float target_angle = 0;
target_angle += 51*36;
DJIMotorSetRef(loader, target_angle);
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = 450; // 完成1发弹丸发射的时间
break;
// 三连发,如果不需要后续可能删除 // 三连发,如果不需要后续可能删除
case LOAD_3_BULLET: case LOAD_3_BULLET:
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到速度环 DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到速度环
@@ -183,20 +199,20 @@ void ShootTask()
switch (shoot_cmd_recv.bullet_speed) switch (shoot_cmd_recv.bullet_speed)
{ {
case SMALL_AMU_15: case SMALL_AMU_15:
DJIMotorSetRef(friction_l, 58000); DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 58000); DJIMotorSetRef(friction_r, 30000);
break; break;
case SMALL_AMU_18: case SMALL_AMU_18:
DJIMotorSetRef(friction_l, 58000); DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 58000); DJIMotorSetRef(friction_r, 30000);
break; break;
case SMALL_AMU_30: case SMALL_AMU_30:
DJIMotorSetRef(friction_l, 58000); DJIMotorSetRef(friction_l, 50000);
DJIMotorSetRef(friction_r, 58000); DJIMotorSetRef(friction_r, 50000);
break; 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. 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, 58000); DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 58000); DJIMotorSetRef(friction_r, 30000);
break; break;
} }
} }

1
modules/imu/ins_task.c
View File

@@ -135,7 +135,6 @@ void INS_Task(void)
INS.Gyro[X] = BMI088.Gyro[X]; INS.Gyro[X] = BMI088.Gyro[X];
INS.Gyro[Y] = BMI088.Gyro[Y]; INS.Gyro[Y] = BMI088.Gyro[Y];
INS.Gyro[Z] = BMI088.Gyro[Z]; INS.Gyro[Z] = BMI088.Gyro[Z];
// demo function,用于修正安装误差,可以不管,本demo暂时没用 // demo function,用于修正安装误差,可以不管,本demo暂时没用
IMU_Param_Correction(&IMU_Param, INS.Gyro, INS.Accel); IMU_Param_Correction(&IMU_Param, INS.Gyro, INS.Accel);