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

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fcl
2026-03-08 16:22:50 +08:00
parent a99307cd04
commit cffaa9db09
3 changed files with 35 additions and 31 deletions
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2
application/chassis/chassis.c
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@@ -153,7 +153,7 @@ void ChassisInit()
PID_Init_Config_s chassis_follow_pid_conf = { PID_Init_Config_s chassis_follow_pid_conf = {
.Kp = 6, // 6 .Kp = 6, // 6
.Ki = 0, .Ki = 0,
.Kd = 0.495, // 0.5 .Kd = 0.495, // 0.495
.DeadBand = 0.5f,// 启用死区，值为0.5度 .DeadBand = 0.5f,// 启用死区，值为0.5度
//.CoefA = 0.2, //.CoefA = 0.2,
//.CoefB = 0.3, //.CoefB = 0.3,

58
application/cmd/robot_cmd.c
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@@ -15,7 +15,7 @@
// 私有宏,自动将编码器转换成角度值 // 私有宏,自动将编码器转换成角度值
#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
uint16_t around=0;
/* cmd应用包含的模块实例指针和交互信息存储*/ /* cmd应用包含的模块实例指针和交互信息存储*/
#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译 #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
#include "can_comm.h" #include "can_comm.h"
@@ -80,23 +80,23 @@ void RobotCMDInit()
* @brief 根据gimbal app传回的当前电机角度计算和零位的误差 * @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 * 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 float base_total_angle = 0.0f; // 用于计算偏移的基准角度
static void CalcOffsetAngle() static void CalcOffsetAngle()
{ {
static float last_offset_angle = 0; 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 smooth_factor = 0.4f; // 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 const float deadband = 3.0f; // 死区值
// 新增：跟踪模式变化，用于重置基准角度 // 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;// // 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 // // 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) // 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; // base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
last_offset_angle = 0.0f; // 同时重置历史偏移值 // 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; float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE;
#if YAW_ECD_GREATER_THAN_4096 #if YAW_ECD_GREATER_THAN_4096
@@ -109,22 +109,22 @@ static void CalcOffsetAngle()
new_offset += 360.0f; new_offset += 360.0f;
///// /////
// 应用死区 // 应用死区
//if (fabs(new_offset) < deadband) { if (fabs(new_offset) < deadband) {
// new_offset = 0.0f; new_offset = 0.0f;
// } else if (new_offset > 0) { } else if (new_offset > 0) {
// new_offset -= deadband; new_offset -= deadband;
//} else { } else {
// new_offset += deadband; new_offset += deadband;
//}////// }//////
chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor; chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
last_offset_angle = chassis_cmd_send.offset_angle; last_offset_angle = chassis_cmd_send.offset_angle;
// 更新模式状态 // // 更新模式状态
last_chassis_mode = chassis_cmd_send.chassis_mode; // 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 // // 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) // if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE)
{ // {
base_total_angle = gimbal_fetch_data.yaw_motor_total_angle; // base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
} // }
// static float 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 // static float last_diff = 0.0f; // 用于在±180°附近保持上次符号，避免来回跳变
@@ -181,11 +181,15 @@ static void RemoteControlSet()
// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据? // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台 if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
{ {
// around = 0;
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
around= chassis_cmd_send.offset_angle/360;
} }
else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动 else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
{ {
//gimbal_fetch_data.yaw_motor_total_angle = gimbal_fetch_data.yaw_motor_total_angle-around*360;
chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle - 360*around;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
} }

2
application/gimbal/gimbal.c
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@@ -27,7 +27,7 @@ void GimbalInit()
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
//.Kp = 0.685, // 8 //.Kp = 0.685, // 8
.Kp = 0.6, // 8 .Kp = 0.685, // 8
//.Ki = 0.315, //.Ki = 0.315,
.Ki = 0.25, .Ki = 0.25,
.Kd = 0.022, .Kd = 0.022,