From bd9314aa7a89c1d7e15cb7be301108b4d4586f59 Mon Sep 17 00:00:00 2001
From: fcl <2136892861@qq.com>
Date: Wed, 11 Mar 2026 20:37:35 +0800
Subject: [PATCH] reast

---
 application/chassis/chassis.c   |  2 +-
 application/shoot/shoot.c       |  6 +++---
 modules/algorithm/controller.c  | 12 ++++++------
 modules/remote/remote_control.c |  2 +-
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 900467b..e43e52a 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -177,7 +177,7 @@ void ChassisInit()
     cap = SuperCapInit(&cap_conf); // 超级电容初始化 todo 控制
 
     // （新增）设置超级电容功率补偿，例如补偿5W，可根据实际需求调整 todo 控制
-    // SuperCapSetPowerOffset(cap, 5);
+     SuperCapSetPowerOffset(cap, 5);
 
     // 发布订阅初始化,如果为双板,则需要can comm来传递消息
 #ifdef CHASSIS_BOARD
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index d9260e4..514ea36 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -52,10 +52,10 @@ void ShootInit()
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
         .motor_type = M3508};
-    friction_config.can_init_config.tx_id = 5,
+    friction_config.can_init_config.tx_id = 1,
     friction_l = DJIMotorInit(&friction_config);
 
-    friction_config.can_init_config.tx_id = 8; // 右摩擦轮,改txid和方向就行
+    friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行
     friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     friction_r = DJIMotorInit(&friction_config);
 
@@ -63,7 +63,7 @@ void ShootInit()
     Motor_Init_Config_s loader_config = {
         .can_init_config = {
             .can_handle = &hcan2,
-            .tx_id = 7,
+            .tx_id = 5,
         },
         .controller_param_init_config = {
             .angle_PID = {
diff --git a/modules/algorithm/controller.c b/modules/algorithm/controller.c
index 4ab6ac4..5c11ae1 100644
--- a/modules/algorithm/controller.c
+++ b/modules/algorithm/controller.c
@@ -61,10 +61,10 @@ static void f_Integral_Limit(PIDInstance *pid)
 }
 
 // 微分先行(仅使用反馈值而不计参考输入的微分)
-// static void f_Derivative_On_Measurement(PIDInstance *pid)
-// {
-//     pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
-// }
+static void f_Derivative_On_Measurement(PIDInstance *pid)
+{
+     pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
+ }
 
 // 微分滤波(采集微分时,滤除高频噪声)
 static void f_Derivative_Filter(PIDInstance *pid)
@@ -172,8 +172,8 @@ float PIDCalculate(PIDInstance *pid, float measure, float ref)
         if (pid->Improve & PID_ChangingIntegrationRate)
             f_Changing_Integration_Rate(pid);
         // 微分先行
-        // if (pid->Improve & PID_Derivative_On_Measurement)
-        //     f_Derivative_On_Measurement(pid);
+         if (pid->Improve & PID_Derivative_On_Measurement)
+             f_Derivative_On_Measurement(pid);
         // 微分滤波器
         if (pid->Improve & PID_DerivativeFilter)
             f_Derivative_Filter(pid);
diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c
index e9a0434..0949f6d 100644
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -40,7 +40,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
     rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
     rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET;                       //!< Channel 3
     rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET;
-    rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_+30;
+    rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_+3;
     // 左侧拨轮
     RectifyRCjoystick();
     // 开关,0左1右