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

all ok but loader reversed

Browse Source
This commit is contained in:
fcl
2026-03-19 19:06:29 +08:00
parent 22885ad953
commit e378036cb7
2 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
application/shoot/shoot.c
View File

@@ -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,