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A-APPlication/Chassis_Yaw_Big.c

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+//#include "Chassis_Yaw_Big.h"
+
+//PID_PositionInitTypedef BigYaw_PositionPID;
+//PID_PositionInitTypedef BigYaw_SpeedPID;
+//extern motor_measure_t Can1_Rx_Data[7];
+//extern motor_measure_t Can2_Rx_Data[7];
+//extern RC_ctrl_t *local_rc_ctrl;
+//extern CAN_HandleTypeDef hcan1;
+//extern CAN_HandleTypeDef hcan2;
+
+
+
+//void Classis_YawBig_Init(void)
+//{
+//	PID_PositionStructureInit (&BigYaw_PositionPID,0);        //外环位置环
+//  PID_PositionSetParameter  (&BigYaw_PositionPID,0.4,0,8);
+//  PID_PositionSetOUTRange   (&BigYaw_PositionPID,-20000,20000);
+//  // PID_PositionSetNeedValueRange(&BigYaw_PositionPID,4848,0);
+
+//	PID_PositionStructureInit (&BigYaw_SpeedPID,0);              //内环速度环
+//  PID_PositionSetParameter  (&BigYaw_SpeedPID,100,0,0);
+//  PID_PositionSetOUTRange   (&BigYaw_SpeedPID,-15000,15000);
+//}
+
+//void Classis_YawBig_Control(void)
+//{
+//    // ============速度环pid调节代码============
+////  static uint32_t tick = 0;
+////   static int i = 0;
+////   float target_speed = 0.0f;
+
+////   // 每 1000ms 切换一次状态（1秒）
+////   if (HAL_GetTick() - tick > 1000) {
+////       tick = HAL_GetTick();
+////       i++;
+////   }
+
+////   // i=0: 0 RPM, i=1: +100, i=2: 0, i=3: -100, 然后循环
+////   switch (i % 4) {
+////       case 0: target_speed = 0.0f;    break;   // 停
+////       case 1: target_speed = 60.0f;  break;   // 正转
+////       case 2: target_speed = 0.0f;    break;   // 停
+////       case 3: target_speed = 60.0f; break;   // 反转
+////   }
+////  
+////  
+////   PID_PositionSetNeedValue(&BigYaw_SpeedPID, target_speed);
+////   PID_PositionCalc(&BigYaw_SpeedPID, Can2_Rx_Data[4].speed_rpm);
+////  
+////    Motor_6020_Voltage1((int16_t)BigYaw_SpeedPID.OUT, 0, 0, 0, &hcan2);
+//    // ========================
+
+//	
+//	
+//	
+//	
+//	
+//	
+//    #define RC_DEADBAND 10
+//    float target_speed = 0.0f;
+//    int16_t ch0 = local_rc_ctrl->rc.ch[0];
+
+//    // ============ 1. 更新位置目标（仅打杆时）============
+//    if (ch0 > RC_DEADBAND || ch0 < -RC_DEADBAND) {
+//        BigYaw_PositionPID.Need_Value -= 0.015f * ch0;
+
+//			if (BigYaw_PositionPID.Need_Value > 8191.0f)
+//					BigYaw_PositionPID.Need_Value -= 8192.0f;
+//			else if (BigYaw_PositionPID.Need_Value < 0.0f)
+//					BigYaw_PositionPID.Need_Value += 8192.0f;
+//    }
+////		BigYaw_PositionPID.Need_Value = 2048.0f;
+//    // ===================================================
+
+//    // ============ 2. 位置环计算 =========================
+//    PID_PositionCalc_Motor(&BigYaw_PositionPID, Can2_Rx_Data[4].ecd);
+//    // ===================================================
+
+//    // ============ 3 =====
+////    if (ch0 > RC_DEADBAND || ch0 < -RC_DEADBAND) {
+//        target_speed = BigYaw_PositionPID.OUT;
+////    }
+//    // ===================================================
+
+//    // ============ 4. 速度环计算 =========================
+//    BigYaw_SpeedPID.Need_Value = target_speed;
+//    PID_PositionCalc(&BigYaw_SpeedPID, Can2_Rx_Data[4].speed_rpm);
+//    // ===================================================
+
+//    // ============ 5. 发送输出 ===========================
+//    Motor_6020_Voltage1((int16_t)BigYaw_SpeedPID.OUT, 0, 0, 0, &hcan2);
+//	
+//}