From e378036cb74618465097b684d22e23a9d23946db Mon Sep 17 00:00:00 2001
From: fcl <2136892861@qq.com>
Date: Thu, 19 Mar 2026 19:06:29 +0800
Subject: [PATCH] all ok but loader reversed

---
 application/chassis/chassis.c | 2 +-
 application/shoot/shoot.c     | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index e43e52a..4f885a6 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -82,7 +82,7 @@ void ChassisInit()
                 .MaxOut = 12000,
             },
             .current_PID = {
-                .Kp = 1, // 0.4
+                .Kp = 0.4, // 0.4
                 .Ki = 0,   // 0
                 .Kd = 0,
                 .IntegralLimit = 10500,
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index 33d8f8e..1d0c4d7 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -68,7 +68,7 @@ void ShootInit()
         .controller_param_init_config = {
             .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
-                .Kp = 0, // 10
+                .Kp = 10, // 10
                 .Ki = 0,
                 .Kd = 0,
                 .MaxOut = 200,
@@ -82,8 +82,8 @@ void ShootInit()
                 .MaxOut = 5000,
             },
             .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 = 5000,