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:
@@ -58,7 +58,7 @@ void Mecanum_Init(void)
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//Raw Code//
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//PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8);
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//Testing Code//
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PID_PositionSetParameter(&Mecanum_TrackPID,0.00,0,0);
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PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,01);//随便写的PID值，勉强可以用
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PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1);
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PID_PositionSetOUTRange(&Mecanum_TrackPID,-4,4);
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@@ -172,9 +172,9 @@ void Mecanum_PowerMoveControl(void)
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}
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//Raw Code//
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//int16_t Raw_Theta=Yaw_GM6020PositionValue-GM6020_MotorStatus[0].Angle;//获取底盘云台相对角度原始数据
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int16_t Raw_Theta=Yaw_GM6020PositionValue-GM6020_MotorStatus[0].Angle;//获取底盘云台相对角度原始数据
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//Testing Code//
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int16_t Raw_Theta=0;//关闭云台角度，仅用于调试底盘
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//int16_t Raw_Theta=0;//关闭云台角度，仅用于调试底盘
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if(Raw_Theta<0)Raw_Theta+=8192;
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//Mecanum_YawTheta=Raw_Theta/8192.0f*2.0f*3.141592653589793238462643383279f;
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Binary file not shown.
@@ -29,26 +29,26 @@ Project File Date: 11/02/2025
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Rebuild target 'Target 1'
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assembling startup_stm32f40_41xxx.s...
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compiling system_stm32f4xx.c...
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compiling stm32f4xx_cryp.c...
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compiling stm32f4xx_adc.c...
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compiling stm32f4xx_dcmi.c...
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compiling stm32f4xx_cryp_des.c...
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compiling stm32f4xx_dfsdm.c...
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compiling stm32f4xx_cryp_tdes.c...
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compiling stm32f4xx_crc.c...
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compiling stm32f4xx_cec.c...
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compiling stm32f4xx_dac.c...
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compiling stm32f4xx_dbgmcu.c...
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compiling stm32f4xx_dsi.c...
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compiling stm32f4xx_dac.c...
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compiling stm32f4xx_fmpi2c.c...
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compiling stm32f4xx_dma2d.c...
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compiling stm32f4xx_cec.c...
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compiling stm32f4xx_can.c...
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compiling stm32f4xx_dfsdm.c...
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compiling stm32f4xx_cryp.c...
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compiling stm32f4xx_crc.c...
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compiling stm32f4xx_flash_ramfunc.c...
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compiling stm32f4xx_dsi.c...
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compiling stm32f4xx_exti.c...
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compiling stm32f4xx_dcmi.c...
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compiling misc.c...
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compiling stm32f4xx_gpio.c...
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compiling stm32f4xx_can.c...
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compiling stm32f4xx_flash_ramfunc.c...
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compiling stm32f4xx_exti.c...
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compiling stm32f4xx_dma.c...
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compiling stm32f4xx_dma2d.c...
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compiling stm32f4xx_cryp_tdes.c...
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compiling stm32f4xx_cryp_des.c...
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compiling stm32f4xx_fsmc.c...
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compiling stm32f4xx_dma.c...
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compiling stm32f4xx_flash.c...
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compiling stm32f4xx_cryp_aes.c...
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compiling stm32f4xx_hash.c...
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@@ -57,45 +57,45 @@ compiling stm32f4xx_hash_sha1.c...
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compiling stm32f4xx_lptim.c...
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compiling stm32f4xx_iwdg.c...
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compiling stm32f4xx_i2c.c...
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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_pwr.c...
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compiling stm32f4xx_rng.c...
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compiling TIM.c...
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compiling stm32f4xx_sdio.c...
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compiling stm32f4xx_ltdc.c...
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compiling stm32f4xx_spdifrx.c...
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compiling stm32f4xx_sai.c...
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compiling stm32f4xx_rcc.c...
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compiling Delay.c...
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compiling stm32f4xx_wwdg.c...
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compiling stm32f4xx_syscfg.c...
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compiling stm32f4xx_sdio.c...
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compiling stm32f4xx_spi.c...
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compiling stm32f4xx_usart.c...
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compiling stm32f4xx_syscfg.c...
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compiling stm32f4xx_rtc.c...
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compiling stm32f4xx_wwdg.c...
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compiling stm32f4xx_usart.c...
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compiling TIM.c...
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compiling Delay.c...
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compiling CAN.c...
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compiling UART.c...
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compiling stm32f4xx_tim.c...
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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 Remote.c...
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compiling LinkCheck.c...
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compiling M3508.c...
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compiling GM6020.c...
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compiling Warming.c...
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compiling LinkCheck.c...
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compiling CToC.c...
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compiling CloseLoopControl.c...
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compiling Warming.c...
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compiling PID.c...
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compiling UI.c...
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compiling CloseLoopControl.c...
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compiling RefereeSystem_CRCTable.c...
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compiling Ultra_CAP.c...
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compiling RefereeSystem.c...
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compiling stm32f4xx_it.c...
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compiling UI_Base.c...
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compiling Ultra_CAP.c...
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compiling UI.c...
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compiling Mecanum.c...
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compiling main.c...
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compiling UI_Base.c...
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compiling UI_Library.c...
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compiling stm32f4xx_it.c...
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compiling main.c...
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linking...
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Program Size: Code=18624 RO-data=1224 RW-data=408 ZI-data=2496
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Program Size: Code=18636 RO-data=1224 RW-data=408 ZI-data=2496
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".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
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<h2>Software Packages used:</h2>
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@@ -108,7 +108,7 @@ 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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@@ -3,7 +3,7 @@
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<title>Static Call Graph - [.\Objects\Project.axf]</title></head>
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<body><HR>
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<H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
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<BR><P>#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sun Nov 02 21:32:48 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Mon Nov 03 12:34:21 2025
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<BR><P>
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<H3>Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
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Call chain for Maximum Stack Depth:</H3>
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@@ -934,7 +934,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[96]">>></a> CloseLoopControl_Init
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</UL>
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<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 1994 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
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<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 2004 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
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<BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = Mecanum_PowerMoveControl ⇒ Mecanum_ControlSpeed ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
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</UL>
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<BR>[Calls]<UL><LI><a href="#[b4]">>></a> Ultra_CAP_SetPower
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@@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
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I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
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I (.\Start\core_cmInstr.h)(0x64D03162)
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I (.\Start\core_cmFunc.h)(0x64D03162)
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I (.\Start\core_cmSimd.h)(0x64D03162)
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I (.\Start\core_cmSimd.h)(0x64D03162)
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I (.\Start\system_stm32f4xx.h)(0x64D03132)
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I (.\User\stm32f4xx_conf.h)(0x64D03180)
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I (.\Library\stm32f4xx_adc.h)(0x64D03164)
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@@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x669D0F64)
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-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
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-o .\objects\m3508.o --omf_browse .\objects\m3508.crf --depend .\objects\m3508.d)
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I (.\Start\stm32f4xx.h)(0x64F48C00)
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I (.\Start\stm32f4xx.h)(0x64F48C00)
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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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I (.\Start\core_cmInstr.h)(0x64D03162)
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@@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x65F5DCF4)
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I (.\Library\stm32f4xx_dma.h)(0x64D03164)
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I (.\Library\stm32f4xx_exti.h)(0x64D03164)
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I (.\Library\stm32f4xx_flash.h)(0x64D03164)
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I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
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I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
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I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
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I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
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I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
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I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
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I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
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I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
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I (.\Library\stm32f4xx_spi.h)(0x64D03164)
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I (.\Library\stm32f4xx_spi.h)(0x64D03164)
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I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
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I (.\Library\stm32f4xx_tim.h)(0x64D03164)
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I (.\Library\stm32f4xx_usart.h)(0x64D03164)
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File diff suppressed because one or more lines are too long
@@ -1767,7 +1767,7 @@
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<Group>
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<GroupName>Control</GroupName>
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<tvExp>1</tvExp>
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<tvExp>0</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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@@ -1799,7 +1799,7 @@
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<Group>
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<GroupName>CarBody</GroupName>
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<tvExp>1</tvExp>
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<tvExp>0</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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@@ -1975,7 +1975,7 @@
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<Group>
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<GroupName>User</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 4050//Yaw轴编码器值
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#define Yaw_GM6020PositionValue 6200//Yaw轴回正时编码器值
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/*=============================================麦轮参数=============================================*/
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#define Mecanum_WheelRadius 7.0f//麦轮半径(单位cm)
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