开启底盘跟随，修改Peremeter.h中Yaw轴回正时编码器值以保证云台正确回中，由于抖动和严重发热，暂时关闭云台pitch轴控制
This commit is contained in:
@@ -162,8 +162,6 @@ void Gimbal_PitchControl(void)
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PID_PositionCalc(&Gimbal_PitchAnglePositionPID,AttitudeAlgorithms_DegRoll);
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Gimbal_PitchAnglePositionPID.OUT=kalmanFilter(&kfp_PITCH,Gimbal_PitchAnglePositionPID.OUT);
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Gimbal_PitchAngleSpeedPID.Need_Value=-Gimbal_PitchAnglePositionPID.OUT;
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PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
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@@ -279,7 +277,7 @@ void Gimbal_Rammer(void)
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*/
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void Gimbal_MoveControl(void)
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{
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Gimbal_PitchControl();//云台Pitch轴控制
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//Gimbal_PitchControl();//云台Pitch轴控制
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Gimbal_YawControl();//云台Yaw轴控制
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Gimbal_FiringMechanismControl();//摩擦轮控制
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Binary file not shown.
@@ -21,35 +21,35 @@ Target DLL: CMSIS_AGDI.dll V1.33.24.0
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Dialog DLL: TCM.DLL V1.56.6.0
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<h2>Project:</h2>
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C:\Users\LSMushui\Desktop\RM\hero-test\Hero-C-Board-Legacy\ÔÆ̨\ÔÆ̨\Project.uvprojx
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C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\ÔÆ̨\ÔÆ̨\Project.uvprojx
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Project File Date: 11/02/2025
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<h2>Output:</h2>
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*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
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Rebuild target 'Target 1'
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assembling startup_stm32f40_41xxx.s...
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compiling stm32f4xx_adc.c...
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compiling stm32f4xx_dac.c...
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compiling stm32f4xx_dma.c...
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compiling stm32f4xx_dcmi.c...
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compiling misc.c...
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compiling stm32f4xx_cryp_des.c...
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compiling stm32f4xx_dfsdm.c...
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compiling stm32f4xx_flash_ramfunc.c...
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compiling system_stm32f4xx.c...
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compiling stm32f4xx_dcmi.c...
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compiling stm32f4xx_adc.c...
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compiling stm32f4xx_fsmc.c...
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compiling stm32f4xx_cryp_tdes.c...
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compiling stm32f4xx_dsi.c...
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compiling stm32f4xx_cryp.c...
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compiling stm32f4xx_cec.c...
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compiling stm32f4xx_fmpi2c.c...
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compiling stm32f4xx_dma2d.c...
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compiling stm32f4xx_cryp_des.c...
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compiling stm32f4xx_dac.c...
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compiling stm32f4xx_dbgmcu.c...
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compiling stm32f4xx_exti.c...
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compiling stm32f4xx_dfsdm.c...
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compiling stm32f4xx_fmpi2c.c...
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compiling stm32f4xx_flash_ramfunc.c...
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compiling stm32f4xx_crc.c...
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compiling stm32f4xx_gpio.c...
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compiling stm32f4xx_can.c...
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compiling stm32f4xx_fsmc.c...
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compiling stm32f4xx_exti.c...
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compiling stm32f4xx_cryp.c...
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compiling stm32f4xx_dma2d.c...
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compiling stm32f4xx_dma.c...
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compiling stm32f4xx_flash.c...
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compiling stm32f4xx_can.c...
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compiling stm32f4xx_cryp_aes.c...
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compiling stm32f4xx_hash.c...
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compiling stm32f4xx_hash_md5.c...
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@@ -61,23 +61,22 @@ compiling stm32f4xx_pwr.c...
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compiling stm32f4xx_ltdc.c...
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compiling stm32f4xx_qspi.c...
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compiling stm32f4xx_rng.c...
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compiling stm32f4xx_rcc.c...
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compiling stm32f4xx_spdifrx.c...
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compiling AHRS_middleware.c...
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compiling stm32f4xx_sai.c...
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compiling TIM.c...
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compiling stm32f4xx_sdio.c...
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compiling stm32f4xx_wwdg.c...
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compiling stm32f4xx_usart.c...
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compiling Delay.c...
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compiling stm32f4xx_syscfg.c...
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compiling stm32f4xx_sai.c...
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compiling stm32f4xx_rcc.c...
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compiling stm32f4xx_sdio.c...
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compiling stm32f4xx_spi.c...
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compiling user_lib.c...
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compiling TIM.c...
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compiling Delay.c...
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compiling stm32f4xx_usart.c...
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compiling AHRS_middleware.c...
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compiling stm32f4xx_wwdg.c...
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compiling stm32f4xx_rtc.c...
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compiling UART.c...
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compiling user_lib.c...
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compiling stm32f4xx_tim.c...
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compiling MyI2C.c...
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compiling CAN.c...
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compiling WaveFiltering_Kalman_Filtering.c...
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Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst" was declared but never referenced
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float pDst,pDst1=1.0f;
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@@ -86,35 +85,36 @@ Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst1"
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Control\WaveFiltering_Kalman_Filtering.c(32): warning: #1-D: last line of file ends without a newline
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Control\WaveFiltering_Kalman_Filtering.c: 3 warnings, 0 errors
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compiling CAN.c...
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compiling LED.c...
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compiling Buzzer.c...
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compiling IST8310.c...
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compiling Remote.c...
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compiling Laser.c...
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compiling BMI088.c...
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compiling Laser.c...
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compiling GM6020.c...
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compiling M3508.c...
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compiling LinkCheck.c...
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compiling M2006.c...
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compiling Warming.c...
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compiling M3508.c...
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compiling CToC.c...
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compiling CloseLoopControl.c...
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compiling AttitudeAlgorithms.c...
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compiling CloseLoopControl.c...
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compiling IMUTemperatureControl.c...
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compiling PID.c...
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compiling Keyboard.c...
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compiling Gimbal.c...
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compiling RefereeSystem.c...
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compiling Visual.c...
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CarBody\Visual.c(68): warning: #9-D: nested comment is not allowed
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UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
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CarBody\Visual.c(165): warning: #1-D: last line of file ends without a newline
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}
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CarBody\Visual.c: 2 warnings, 0 errors
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compiling IMUTemperatureControl.c...
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compiling RefereeSystem.c...
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compiling Gimbal.c...
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compiling Keyboard.c...
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compiling main.c...
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compiling stm32f4xx_it.c...
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linking...
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Program Size: Code=31544 RO-data=1236 RW-data=552 ZI-data=3520
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Program Size: Code=31032 RO-data=1236 RW-data=552 ZI-data=3520
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".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).
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<h2>Software Packages used:</h2>
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@@ -127,7 +127,7 @@ Package Vendor: Keil
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<h2>Collection of Component include folders:</h2>
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<h2>Collection of Component Files used:</h2>
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Build Time Elapsed: 00:00:04
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Build Time Elapsed: 00:00:05
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</pre>
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</body>
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</html>
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+489
-501
File diff suppressed because it is too large
Load Diff
@@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
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I (.\Library\stm32f4xx_fsmc.h)(0x64D03164)
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I (.\Hardware\Remote.h)(0x669D1538)
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I (Function\CToC.h)(0x669D31F6)
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I (.\User\Parameter.h)(0x67E27657)
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I (.\User\Parameter.h)(0x690830AB)
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I (.\CarBody\RefereeSystem.h)(0x66A1C17E)
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F (.\Function\CToC.h)(0x669D31F6)()
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F (.\Function\CloseLoopControl.c)(0x67B83013)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186
-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"
-o .\objects\closeloopcontrol.o --omf_browse .\objects\closeloopcontrol.crf --depend .\objects\closeloopcontrol.d)
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@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)
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I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
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I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
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F (.\Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)()
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F (.\CarBody\Gimbal.c)(0x67E27609)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186
-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"
-o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d)
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F (.\CarBody\Gimbal.c)(0x69082985)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186
-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"
-o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d)
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I (.\Start\stm32f4xx.h)(0x66256792)
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I (.\Start\core_cm4.h)(0x64D03162)
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I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
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@@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
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I (.\Library\stm32f4xx_dac.h)(0x64D03164)
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I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
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I (.\Library\stm32f4xx_fsmc.h)(0x64D03164)
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I (.\User\Parameter.h)(0x67E27657)
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I (.\User\Parameter.h)(0x690830AB)
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I (.\Control\PID.h)(0x6503C236)
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I (.\Hardware\Remote.h)(0x669D1538)
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I (.\Function\AttitudeAlgorithms.h)(0x660A3E88)
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@@ -2670,13 +2670,13 @@ I (.\Function\CToC.h)(0x669D31F6)
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I (.\Function\IMUTemperatureControl.h)(0x65C36CAE)
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I (.\Function\AttitudeAlgorithms.h)(0x660A3E88)
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I (.\Function\Warming.h)(0x66A19ADE)
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I (User\Parameter.h)(0x67E27657)
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I (User\Parameter.h)(0x690830AB)
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I (.\CarBody\Gimbal.h)(0x67B825A8)
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I (.\CarBody\Visual.h)(0x67B846AB)
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I (.\CarBody\RefereeSystem.h)(0x66A1C17E)
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I (.\CarBody\Keyboard.h)(0x66A1BD42)
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F (.\User\RM_C.h)(0x66A2BE9A)()
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F (.\User\Parameter.h)(0x67E27657)()
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F (.\User\Parameter.h)(0x690830AB)()
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F (.\User\stm32f4xx_conf.h)(0x64D03180)()
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F (.\User\stm32f4xx_it.c)(0x64D032D2)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186
-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"
-o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d)
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I (User\stm32f4xx_it.h)(0x64D03180)
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File diff suppressed because one or more lines are too long
@@ -2098,7 +2098,7 @@
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<Group>
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<GroupName>CarBody</GroupName>
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<tvExp>0</tvExp>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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@@ -2,7 +2,7 @@
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#define __PARAMETER_H
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/*=============================================结构参数=============================================*/
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#define Yaw_GM6020PositionValue 1000//Yaw轴编码器值4050
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#define Yaw_GM6020PositionValue 6200////Yaw轴回正时编码器值
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#define Pitch_GM6020PositionValue 3245//Pitch轴编码器值
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#define Pitch_GM6020PositionLowerLinit 7363//Pitch轴编码器值下限7363
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#define Pitch_GM6020PositionUpperLinit 8625//Pitch轴编码器值上限433 8625
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Reference in New Issue
Block a user