同步原有英雄云台代码

2025-11-03 10:46:54 +08:00
parent 5ea12ea563
commit 6504b5a614
37 changed files with 1591 additions and 8570 deletions
--- a/云台/云台/.vscode/c_cpp_properties.json
+++ b/云台/云台/.vscode/c_cpp_properties.json
@@ -104,23 +104,19 @@
        {
            "name": "Target 1",
            "includePath": [
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Start",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Library",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\System",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Algorithm",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\AHRS",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Hardware",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Motor",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Function",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Control",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\CarBody",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\User",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Start",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Library",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\System",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Algorithm",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\AHRS",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Hardware",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Motor",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Function",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Control",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\CarBody",
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\User",
                "C:\\Keil_v5\\ARM\\ARMCC\\include",
-                "C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux",
-                "C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux_compat",
-                "C:\\Keil_v5\\ARM\\ARMCC\\include\\libcxx",
-                "C:\\Keil_v5\\ARM\\ARMCC\\include\\rw",
-                "f:\\桌面\\V1.0\\new-infantry\\云台\\云台\\Carbody"
+                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Carbody"
            ],
            "defines": [
                "USE_STDPERIPH_DRIVER",
--- a/云台/云台/.vscode/keil-assistant.log
+++ b/云台/云台/.vscode/keil-assistant.log
@@ -44,54 +44,25 @@

 [info] Log at : 2025/3/20|20:26:40|GMT+0800

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+[info] Log at : 2025/3/22|12:17:57|GMT+0800

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+[info] Log at : 2025/3/26|21:46:15|GMT+0800

-[info] project closed: Project
-[info] Log at : 2025/8/28|13:07:02|GMT+0800
-
-[info] Log at : 2025/9/8|10:14:46|GMT+0800
-
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--- a/云台/云台/.vscode/uv4.log
+++ b/云台/云台/.vscode/uv4.log
@@ -1,3 +1,3 @@
-Load "f:\\<EFBFBD><EFBFBD><EFBFBD><EFBFBD>\\V1.0\\new-infantry\\<5C><>̨\\<5C><>̨\\Objects\\Project.axf" 
+Load "f:\\Mas_Infantry_Control-main\\<5C><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>\\V1.0\\Hero\\<5C><>̨\\<5C><>̨\\Objects\\Project.axf" 
 Erase Done.Programming Done.Verify OK.Application running ...
-Flash Load finished at 13:07:26
+Flash Load finished at 17:24:51
--- a/云台/云台/.vscode/uv4.log.lock
+++ b/云台/云台/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/10/23 13:07:27
+2025/3/25 17:24:51
--- a/云台/云台/CarBody/Gimbal.c
+++ b/云台/云台/CarBody/Gimbal.c
@@ -18,16 +18,19 @@ KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体

 #define Gimbal_YawMotor										GM6020_1//Yaw轴电机
 #define Gimbal_PitchMotor									GM6020_2//Pitch轴电机
-#define Gimbal_L_FrictionWheel								M3508_1//左摩擦轮
-#define Gimbal_R_FrictionWheel								M3508_2//右摩擦轮
+#define Gimbal_L1_FrictionWheel								M3508_1//左摩擦轮
+#define Gimbal_R1_FrictionWheel								M3508_2//右摩擦轮
+#define Gimbal_L2_FrictionWheel								M3508_3//左摩擦轮
+#define Gimbal_R2_FrictionWheel								M3508_4//右摩擦轮
+#define Gimbal_RammerSpinMotor								M3508_7//拨弹盘电机
+

 uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位

-extern int KP , KI , KD;

 PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID;//Yaw轴GM6020电机PID
 PID_PositionInitTypedef Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID
-PID_PositionInitTypedef Gimbal_L_FrictionWheelPID,Gimbal_R_FrictionWheelPID;//摩擦轮转速PID
+PID_PositionInitTypedef Gimbal_L2_FrictionWheelPID,Gimbal_R2_FrictionWheelPID,Gimbal_L1_FrictionWheelPID,Gimbal_R1_FrictionWheelPID;//摩擦轮转速PID
 PID_PositionInitTypedef Gimbal_RammerSpinSpeedPID;//拨弹盘旋转PID

 /*
@@ -42,7 +45,6 @@ void Gimbal_Init(void)
 	PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,140,0,0);
 	PID_PositionSetEkRange(&Gimbal_YawAnglePositionPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_YawAnglePositionPID,-200,200);
-
 	PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200);
 	PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,1000,0,1);
 	PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1);
@@ -52,45 +54,53 @@ void Gimbal_Init(void)
 	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,6,0,0);
 	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150);
-	
 	PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150);
 	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,0);
 	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-5,5);
 	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
 */
 	PID_PositionStructureInit(&Gimbal_YawAnglePositionPID,0);//Yaw轴陀螺仪闭环
-	PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,8,0,40);
+	PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,5,0,0.1);
 	PID_PositionSetEkRange(&Gimbal_YawAnglePositionPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_YawAnglePositionPID,-200,200);
-
 	PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200);
-	PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,300,0.1,150);
-	PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-5,5);
-	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-30000,30000);
+	PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,150,0,20);
+	PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1);
+	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-50000,50000);
 	
 	PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环
-	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,15,0,0);
+	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,5,0,0);
 	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150);
-
 	PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150);
-	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,140,0,10);
-	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-5,5);
-	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-500000,500000);
+	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,10);
+	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0,0);
+	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
 	
-	PID_PositionStructureInit(&Gimbal_L_FrictionWheelPID,0);//左摩擦轮
-	PID_PositionSetParameter(&Gimbal_L_FrictionWheelPID,16,0,30);
-	PID_PositionSetEkRange(&Gimbal_L_FrictionWheelPID,-5,5);
-	PID_PositionSetOUTRange(&Gimbal_L_FrictionWheelPID,-15000,15000);
-	PID_PositionStructureInit(&Gimbal_R_FrictionWheelPID,0);//右摩擦轮
-	PID_PositionSetParameter(&Gimbal_R_FrictionWheelPID,16,0,30);
-	PID_PositionSetEkRange(&Gimbal_R_FrictionWheelPID,-5,5);
-	PID_PositionSetOUTRange(&Gimbal_R_FrictionWheelPID,-15000,15000);
+	PID_PositionStructureInit(&Gimbal_L1_FrictionWheelPID,0);//左摩擦轮
+	PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_L1_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_L1_FrictionWheelPID,-15000,15000);

-	PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,-Gimbal_RammerSpeed);//拨弹盘
-	PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,16,0,0);
+	PID_PositionStructureInit(&Gimbal_R1_FrictionWheelPID,0);//右摩擦轮
+	PID_PositionSetParameter(&Gimbal_R1_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_R1_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_R1_FrictionWheelPID,-15000,15000);
+	
+	PID_PositionStructureInit(&Gimbal_L2_FrictionWheelPID,0);//左摩擦轮
+	PID_PositionSetParameter(&Gimbal_L2_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_L2_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_L2_FrictionWheelPID,-15000,15000);
+
+	PID_PositionStructureInit(&Gimbal_R2_FrictionWheelPID,0);//右摩擦轮
+	PID_PositionSetParameter(&Gimbal_R2_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-5,5);
+	PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
+
+	PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,Gimbal_RammerSpeed);//拨弹盘
+	PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,50,0,0);
 	PID_PositionSetEkRange(&Gimbal_RammerSpinSpeedPID,-20,20);
-	PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-30000,30000);
+	PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-2000,2000);

 	
 	
@@ -110,8 +120,10 @@ void Gimbal_CleanPID(void)
 	PID_PositionClean(&Gimbal_YawAngleSpeedPID);
 	PID_PositionClean(&Gimbal_PitchAnglePositionPID);
 	PID_PositionClean(&Gimbal_PitchAngleSpeedPID);
-	PID_PositionClean(&Gimbal_L_FrictionWheelPID);
-	PID_PositionClean(&Gimbal_R_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_L1_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_R1_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_L2_FrictionWheelPID);
+	PID_PositionClean(&Gimbal_R2_FrictionWheelPID);
 	PID_PositionClean(&Gimbal_RammerSpinSpeedPID);
 }

@@ -127,37 +139,29 @@ void Gimbal_CleanPID(void)
 */
 void Gimbal_PitchControl(void)
 {
-	float use_pitch=0,use_yaw=0,lastpitch=0,lastyaw=0;
 	if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度
 	if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
 	Gimbal_PitchAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况
 	else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
 	Gimbal_PitchAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;
 	
-	if(Remote_RxData.Remote_LS==2  || Remote_RxData.Remote_Mouse_KeyR==1 )//自瞄,补偿角度
+	if(Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1  || Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1 )//自瞄,补偿角度
 	{
 		Visual_ReceiveFlag=0;
-		use_pitch=0.5f*Visual_Pitch;
-		use_yaw=0.5f*Visual_Yaw;
 	
-		if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position>Pitch_GM6020PositionUpperLinit && Visual_Pitch>0)
-
-		Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)use_pitch-lastpitch;
-		if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position<Pitch_GM6020PositionLowerLinit && Visual_Pitch<0)
-
-		Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)use_pitch-lastpitch;
-		Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw+(float)use_yaw-lastyaw;
-		use_pitch=0,use_yaw=0;
+		if((GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position-1000)>Pitch_GM6020PositionUpperLinit && Visual_Pitch>0)
+		Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)Visual_Pitch;
+		if((GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position-1000)<Pitch_GM6020PositionLowerLinit && Visual_Pitch<0)
+		Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)Visual_Pitch;
+		Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw+(float)Visual_Yaw;
 		Remote_RxData.Remote_Mouse_KeyPushR=0;
 		Remote_RxData.Remote_LS=0;
-		lastpitch=Visual_Pitch;
-		lastyaw=Visual_Yaw;
 	}
 	
 	//串级PID闭环Pitch角
 	PID_PositionCalc(&Gimbal_PitchAnglePositionPID,AttitudeAlgorithms_DegRoll);
-   // Gimbal_PitchAnglePositionPID.OUT=kalmanFilter(&kfp_PITCH,Gimbal_PitchAnglePositionPID.OUT);
-	Gimbal_PitchAngleSpeedPID.Need_Value=Gimbal_PitchAnglePositionPID.OUT;
+    Gimbal_PitchAnglePositionPID.OUT=kalmanFilter(&kfp_PITCH,Gimbal_PitchAnglePositionPID.OUT);
+	Gimbal_PitchAngleSpeedPID.Need_Value=-Gimbal_PitchAnglePositionPID.OUT;

 	
 	PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
@@ -198,17 +202,11 @@ void Gimbal_YawControl(void)
 		else 
 		Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2);
 	}
-
-	
 	
 	//串级PID闭环Yaw角
 	PID_PositionCalc(&Gimbal_YawAnglePositionPID,AttitudeAlgorithms_DegYaw);
 	Gimbal_YawAngleSpeedPID.Need_Value=Gimbal_YawAnglePositionPID.OUT;
 	PID_PositionCalc(&Gimbal_YawAngleSpeedPID,GM6020_MotorStatus[0].Speed);
-	//while(Gimbal_YawAngleSpeedPID.OUT > 65534 || Gimbal_YawAngleSpeedPID.OUT < -65534)
-	//PID_PositionClean(&Gimbal_YawAngleSpeedPID);
-
-
 	GM6020_CAN2SetLIDVoltage(Gimbal_YawAngleSpeedPID.OUT,0,0,0);

 }
@@ -223,20 +221,24 @@ void Gimbal_FiringMechanismControl(void)
 {
 	if(((Remote_RxData.Remote_LS==1 && RefereeSystem_Status==0) || PC_FrictionWheel==1) && RefereeSystem_ShooterStatus==1)//摩擦轮开
 	{
-		Gimbal_L_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;Gimbal_R_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;
+		Gimbal_L1_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;
+Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;Gimbal_R2_FrictionWheelPID.Need_Value=-               Gimbal_FrictionWheelSpeed;
 		Laser_ON();//开激光
 		Gimbal_FrictionWheelFlag=1;
 	}
 	else//摩擦轮关
 	{
-		Gimbal_L_FrictionWheelPID.Need_Value=Gimbal_R_FrictionWheelPID.Need_Value=0;
+		Gimbal_L1_FrictionWheelPID.Need_Value=Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_R2_FrictionWheelPID.Need_Value=0;
 		Laser_OFF();//关激光
 		Gimbal_FrictionWheelFlag=0;
 	}
 	
-	PID_PositionCalc(&Gimbal_L_FrictionWheelPID,M3508_MotorStatus[Gimbal_L_FrictionWheel-0x201].RotorSpeed);
-	PID_PositionCalc(&Gimbal_R_FrictionWheelPID,M3508_MotorStatus[Gimbal_R_FrictionWheel-0x201].RotorSpeed);
-	M3508_CANSetLIDCurrent(Gimbal_L_FrictionWheelPID.OUT,Gimbal_R_FrictionWheelPID.OUT,0,0);
+	PID_PositionCalc(&Gimbal_L1_FrictionWheelPID,M3508_MotorStatus[Gimbal_L1_FrictionWheel-0x201].RotorSpeed);
+	PID_PositionCalc(&Gimbal_R1_FrictionWheelPID,M3508_MotorStatus[Gimbal_R1_FrictionWheel-0x201].RotorSpeed);
+	PID_PositionCalc(&Gimbal_L2_FrictionWheelPID,M3508_MotorStatus[Gimbal_L2_FrictionWheel-0x201].RotorSpeed);
+	PID_PositionCalc(&Gimbal_R2_FrictionWheelPID,M3508_MotorStatus[Gimbal_R2_FrictionWheel-0x201].RotorSpeed);
+	M3508_CANSetLIDCurrent(Gimbal_L1_FrictionWheelPID.OUT,Gimbal_R1_FrictionWheelPID.OUT,Gimbal_L2_FrictionWheelPID.OUT,Gimbal_R2_FrictionWheelPID.OUT);
+
 }

 /*
@@ -258,8 +260,11 @@ void Gimbal_Rammer(void)
 	}
 	else Gimbal_RammerSpinSpeedPID.Need_Value=0;
 	
-	PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M2006_MotorStatus[6].RotorSpeed);
+	PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
 	M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0);
+
+	//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
+	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
 }


@@ -274,12 +279,9 @@ void Gimbal_Rammer(void)
 */
 void Gimbal_MoveControl(void)
 {
-	//Raw Code//
-	//Gimbal_PitchControl();//云台Pitch轴控制
-	//Gimbal_YawControl();//云台Yaw轴控制
-	//Testing Code//
-	//暂时关闭云台控制
-
+	Gimbal_PitchControl();//云台Pitch轴控制
+	Gimbal_YawControl();//云台Yaw轴控制
+	
 	Gimbal_FiringMechanismControl();//摩擦轮控制
 	Gimbal_Rammer();//拨弹盘控制
 	//UART2_Printf("%f,%f,%f,%f\n",Gimbal_PitchAngleSpeedPID.Need_Value,Gimbal_PitchAngleSpeedPID.Now_Value,Gimbal_PitchAnglePositionPID.Now_Value,Gimbal_PitchAnglePositionPID.Need_Value);
--- a/云台/云台/CarBody/Visual.c
+++ b/云台/云台/CarBody/Visual.c
@@ -7,19 +7,12 @@
 #include"Delay.h"
 #include "Buzzer.h"
 #include "GM6020.h"
-#include "PID.h"
-#include <string.h>
-#include <stdlib.h> 

 uint32_t Visual_Time=0;//视觉数据send时间
 uint32_t Time_Out=0;//超时时间
 uint32_t SystemCoreClock84=84000000; //84M
-int KP , KI , KD;
-int yaw=0 , pitch=0;
-static char dataType;               // 存储类型字段（'r'/'b'/'u'）

 uint8_t USART_RX_BUF[100];//视觉数据jieshou缓冲区
-extern PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID;



@@ -68,9 +61,8 @@ void Visual_SendData(void)
 	UART2_SendByte((uint8_t)1);
 	UART2_SendByte((uint8_t)1);
 */
-	//UART2_Printf("%d,%d,%f,%f\n",GM6020_MotorStatus[0].Speed,GM6020_MotorStatus[0].Angle,Gimbal_YawAnglePositionPID.OUT,Gimbal_YawAngleSpeedPID.OUT);
+	UART2_Printf("%f %d",AttitudeAlgorithms_DegRoll,GM6020_MotorStatus[0].Position);

-	UART2_Printf("%d,%f,%f\n",Visual_ReceiveFlag,Visual_Yaw,Visual_Pitch);
 	//UART2_SendByte((uint8_t)'\n');
 	/*if(Visual_ReceiveFlag == 1)
 	UART2_Printf("%f %f %f %f  \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
@@ -106,123 +98,11 @@ void USART1_IRQHandler(void)
 	USART_ClearITPendingBit(USART1,USART_IT_RXNE);//清除接收中断标志位

 }
-void Visual_Trans(void) {
-	//Visual_Yaw = -(float)yaw;
-    //Visual_Pitch = -(float)pitch;
-
-	
-// 全局变量（需在.h文件中声明）
-char Visual_Type = '\0';       // 存储类型（r/b/u）


-uint8_t Visual_ReceiveFlag = 0; // 接收完成标志

-// 静态变量（函数内部状态）
-static char Visual_RxBuffer[32];  // 接收缓冲区（足够容纳最长帧）
-static uint8_t RxState = 0;       // 状态机：0-等待#，1-接收数据，2-解析
-static uint8_t RxIndex = 0;       // 缓冲区索引
-static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒）
-
- // 每次调用处理一个UART接收字节（UART2_RxData为当前接收的字节）
-    uint8_t rx_byte = UART2_RxData;
-
-    // 接收新数据时重置超时计时器
-    RxTimeoutTick = 0;
-
-    switch (RxState) {
-        case 0:  // 等待帧头'#'（ASCII：0x23）
-            if (rx_byte == '#') {
-                RxState = 1;
-                RxIndex = 0;
-                memset(Visual_RxBuffer, 0, sizeof(Visual_RxBuffer));  // 清空缓冲区
-            }
-            break;
-
-        case 1:  // 接收有效数据（直到遇到帧尾'*'）
-            if (rx_byte == '*') {  // 帧尾（ASCII：0x2A）
-                RxState = 2;
-            } else {
-                // 限制缓冲区大小，防止溢出（预留1字节给结束符'\0'）
-                if (RxIndex < sizeof(Visual_RxBuffer) - 1) {
-                    Visual_RxBuffer[RxIndex++] = rx_byte;
-                } else {
-                    // 缓冲区满，强制复位（防止内存溢出）
-                    RxState = 0;
-                    RxIndex = 0;
-                }
-            }
-            break;
-
-        case 2:  // 解析接收的字符串
-        {
-            // 有效数据格式："s r 207 -4"（需包含4个字段）
-            char *token = strtok(Visual_RxBuffer, " ");  // 按空格分割
-            uint8_t field_idx = 0;
-            uint8_t parse_ok = 1;  // 解析成功标志
-
-            char type = '\0';
-
-
-            while (token != NULL && field_idx < 4) {  // 只处理前4个字段
-                switch (field_idx) {
-                    case 0:  // 校验包头's'（ASCII：0x73）
-                        if (strcmp(token, "s") != 0) {
-                            parse_ok = 0;  // 包头错误
-                        }
-                        break;
-                    case 1:  // 提取类型（r/b/u）
-                        if (token[0] == 'r' || token[0] == 'b' || token[0] == 'u') {
-                            type = token[0];
-                        } else {
-                            parse_ok = 0;  // 类型错误
-                        }
-                        break;
-                    case 2:  // 转换yaw（字符串→int）
-                        yaw = atoi(token);
-                        break;
-                    case 3:  // 转换pitch（字符串→int）
-                        pitch = atoi(token);
-						
-                        break;
-                }
-                token = strtok(NULL, " ");
-                field_idx++;
-            }
-			
-
-            // 解析成功的条件：字段完整且包头/类型正确
-            if (parse_ok && field_idx == 4) {
-                Visual_Type = type;
-                Visual_GetYaw = yaw;
-                Visual_GetPitch = pitch;
-
-                // 角度转换（根据实际需求调整系数）
-                Visual_Yaw = -(float)yaw * 0.03051850947599f;
-                Visual_Pitch = -(float)pitch * 0.03051850947599f;
-
-                Visual_ReceiveFlag = 1;  // 置位完成标志
-            }
-
-            // 解析完成，回到初始状态
-            RxState = 0;
-            RxIndex = 0;
-        }
-            break;
-
-        default:
-            // 异常状态复位
-            RxState = 0;
-            RxIndex = 0;
-            break;
-    }
-}
-
-/*
 void Visual_Trans(void){
-	
-	

-	
 	static int Visual_RxHEXPacket[20];

 	//char Message[10];
@@ -282,7 +162,4 @@ void Visual_Trans(void){
 			}
 		
 		}
-
-		
-}
-		*/
+}
--- a/云台/云台/Control/PID.h
+++ b/云台/云台/Control/PID.h
@@ -21,7 +21,6 @@ typedef struct
 	float I_OUT;//积分输出
 	float D_OUT;//微分输出
 	float OUT;//总输出
-	//double OUT;//总输出
 	float OUT_low;//输出限幅下限
 	float OUT_up;//输出限幅上限
 }PID_PositionInitTypedef;//位置式PID参数结构体
--- a/云台/云台/Function/CToC.c
+++ b/云台/云台/Function/CToC.c
@@ -145,8 +145,8 @@ uint8_t CToC_MasterSendControl(void)
 	TxMessage.Data[3]=Remote_RxData.Remote_KeyPush_Shift;//键盘Shift状态
 	TxMessage.Data[4]=Remote_StartFlag;//遥控器启动标志位
 	TxMessage.Data[5]=Remote_RxData.Remote_LS;//遥控器左侧拨动开关
-	TxMessage.Data[6]=Remote_RxData.Remote_Key_Alpha1;
-	TxMessage.Data[7]=Remote_RxData.Remote_Key_Alpha2;
+	TxMessage.Data[6]=0;
+	TxMessage.Data[7]=0;
 	
 	uint8_t mbox=CAN_Transmit(CAN2,&TxMessage);//发送数据并获取邮箱号
 	uint16_t i=0;
--- a/云台/云台/Function/Warming.c
+++ b/云台/云台/Function/Warming.c
@@ -12,7 +12,7 @@
 /*====================	 报警列表	====================
 	遥控器未连接	················1s里红灯连闪两下
 	遥控器数据错误报警	············红灯常亮
-	CAN总线设备连接异常············2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
+	CAN总线设备连接异常············2s内蜂鸣器以高音3响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
 	IST8310连接错误	················绿灯以1s为周期闪烁
 	BMI088连接错误	················1s里绿灯连闪两下
 	陀螺仪温度过高报警	············绿灯常亮
@@ -100,7 +100,7 @@ void Warming_RemoteDataERROR(void)
 *参数说明:无
 *返回类型:无
 *备注:闭环控制TIM6定时更新中断调用,定时2ms
- *报警现象:2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
+ *报警现象:2s内蜂鸣器以高音3响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
 */
 void Warming_LinkError(void)
 {
@@ -110,7 +110,7 @@ void Warming_LinkError(void)
 	
 	if(i<LinkCheck_ErrorID+1)//高音6响LinkCheck_ErrorID下
 	{
-		if(Counter==100*i+1)Buzzer_ON(H6);
+		if(Counter==100*i+1)Buzzer_ON(H3);
 		else if(Counter==100*i+51)Buzzer_ON(P);
 		else if(Counter==100*i+100)i++;
 	}
--- a/云台/云台/Hardware/Remote.c
+++ b/云台/云台/Hardware/Remote.c
@@ -173,9 +173,7 @@ void Remote_DataProcess(void)
 	Remote_RxData.Remote_KeyLast_Q=Remote_RxData.Remote_Key_Q;
 	Remote_RxData.Remote_KeyLast_E=Remote_RxData.Remote_Key_E;
 	Remote_RxData.Remote_KeyLast_Shift=Remote_RxData.Remote_Key_Shift;
-	Remote_RxData.Remote_KeyLast_Ctrl=Remote_RxData.Remote_Key_Ctrl;
-	Remote_RxData.Remote_KeyLast_Alpha1=Remote_RxData.Remote_Key_Alpha1;
-	Remote_RxData.Remote_KeyLast_Alpha2=Remote_RxData.Remote_Key_Alpha2;	
+	Remote_RxData.Remote_KeyLast_Ctrl=Remote_RxData.Remote_Key_Ctrl;	
 	
 	//Remote_RxData.Remote_R_RL=(((uint16_t)Data[1]<<8) | Data[0]) & 0x07FF;//B[0:10],11bits
 	Remote_R_RL_True=(((uint16_t)Data[1]<<8) | Data[0]) & 0x07FF;//B[0:10],11bits
@@ -208,9 +206,6 @@ void Remote_DataProcess(void)
 	Remote_RxData.Remote_Key_Ctrl=(Data[14]>>5) & 0x01;//B[117:117],1bits
 	Remote_RxData.Remote_Key_Q=(Data[14]>>6) & 0x01;//B[118:118],1bits
 	Remote_RxData.Remote_Key_E=(Data[14]>>7) & 0x01;//B[119:119],1bits
-	Remote_RxData.Remote_Key_Alpha1=(Data[14]>>9) & 0x01;//B[118:118],1bits
-	Remote_RxData.Remote_Key_Alpha2=(Data[14]>>10) & 0x01;//B[119:119],1bits
-
 	
 	Remote_RxData.Remote_ThumbWheel=(int16_t)((uint16_t)Data[17]<<8) | Data[16];//B[120:135],16bits

@@ -219,8 +214,6 @@ void Remote_DataProcess(void)
 	if(Remote_RxData.Remote_KeyLast_Shift==0 && Remote_RxData.Remote_Key_Shift==1)Remote_RxData.Remote_KeyPush_Shift=!Remote_RxData.Remote_KeyPush_Shift;
 	if(Remote_RxData.Remote_KeyLast_Ctrl==0 && Remote_RxData.Remote_Key_Ctrl==1)Remote_RxData.Remote_KeyPush_Ctrl=!Remote_RxData.Remote_KeyPush_Ctrl;
 	if(Remote_RxData.Remote_Mouse_KeyLastR==0 && Remote_RxData.Remote_Mouse_KeyR==1)Remote_RxData.Remote_Mouse_KeyPushR=1;
-	if(Remote_RxData.Remote_KeyLast_Alpha1==0 && Remote_RxData.Remote_Key_Alpha1==1)Remote_RxData.Remote_Key_Alpha1=1;
-	if(Remote_RxData.Remote_KeyLast_Alpha2==0 && Remote_RxData.Remote_Key_Alpha2==1)Remote_RxData.Remote_Key_Alpha2=1;
 	else Remote_RxData.Remote_Mouse_KeyPushR=0;
 }

--- a/云台/云台/Hardware/Remote.h
+++ b/云台/云台/Hardware/Remote.h
@@ -25,12 +25,6 @@ typedef struct
 	uint8_t Remote_Key_E;//键盘E键,按下为1,未按下为0
 	uint8_t Remote_Key_Shift;//键盘Shift键,按下为1,未按下为0
 	uint8_t Remote_Key_Ctrl;//键盘Ctrl键,按下为1,未按下为0
-
-	uint8_t Remote_Key_Alpha1;//键盘1键,按下为1,未按下为0
-	uint8_t Remote_Key_Alpha2;//键盘2键,按下为1,未按下为0
-
-	uint8_t Remote_KeyLast_Alpha1;//上一次键盘Shift键
-	uint8_t Remote_KeyLast_Alpha2;//上一次键盘Ctrl键
 	
 	uint8_t Remote_Mouse_KeyLastR;//上一次鼠标右键
 	uint8_t Remote_KeyLast_Q;//上一次键盘Q键
--- a/云台/云台/Nu_Link_Driver.ini
+++ b/云台/云台/Nu_Link_Driver.ini
--- a/云台/云台/Objects/ExtDll.iex
+++ b/云台/云台/Objects/ExtDll.iex
@@ -1,2 +0,0 @@
-[EXTDLL]
-Count=0
--- a/云台/云台/Objects/Project.axf
+++ b/云台/云台/Objects/Project.axf
--- a/云台/云台/Objects/Project.build_log.htm
+++ b/云台/云台/Objects/Project.build_log.htm
@@ -21,62 +21,63 @@ Target DLL:      CMSIS_AGDI.dll V1.33.24.0
 Dialog DLL:      TCM.DLL V1.56.6.0
 
 <h2>Project:</h2>
-C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
+C:\Users\LSMushui\Desktop\RM\hero-test\Hero-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
 Project File Date:  11/02/2025

 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
 Rebuild target 'Target 1'
 assembling startup_stm32f40_41xxx.s...
-compiling misc.c...
-compiling stm32f4xx_exti.c...
+compiling stm32f4xx_adc.c...
 compiling stm32f4xx_dac.c...
-compiling stm32f4xx_can.c...
+compiling stm32f4xx_dma.c...
+compiling stm32f4xx_dcmi.c...
+compiling misc.c...
+compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling system_stm32f4xx.c...
+compiling stm32f4xx_cryp_tdes.c...
 compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_cryp_aes.c...
+compiling stm32f4xx_cryp.c...
+compiling stm32f4xx_cec.c...
+compiling stm32f4xx_fmpi2c.c...
 compiling stm32f4xx_dma2d.c...
 compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_cryp.c...
-compiling stm32f4xx_dma.c...
-compiling stm32f4xx_cec.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_cryp_tdes.c...
-compiling stm32f4xx_cryp_des.c...
-compiling system_stm32f4xx.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_dcmi.c...
-compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_exti.c...
 compiling stm32f4xx_crc.c...
-compiling stm32f4xx_adc.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_can.c...
 compiling stm32f4xx_fsmc.c...
 compiling stm32f4xx_flash.c...
+compiling stm32f4xx_cryp_aes.c...
 compiling stm32f4xx_hash.c...
 compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_i2c.c...
-compiling stm32f4xx_qspi.c...
+compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_pwr.c...
 compiling stm32f4xx_ltdc.c...
+compiling stm32f4xx_qspi.c...
 compiling stm32f4xx_rng.c...
-compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_sai.c...
 compiling stm32f4xx_rcc.c...
 compiling stm32f4xx_spdifrx.c...
 compiling AHRS_middleware.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_spi.c...
+compiling stm32f4xx_sai.c...
+compiling TIM.c...
+compiling stm32f4xx_sdio.c...
 compiling stm32f4xx_wwdg.c...
 compiling stm32f4xx_usart.c...
-compiling stm32f4xx_rtc.c...
 compiling Delay.c...
-compiling stm32f4xx_tim.c...
+compiling stm32f4xx_syscfg.c...
+compiling stm32f4xx_spi.c...
 compiling user_lib.c...
-compiling TIM.c...
+compiling stm32f4xx_rtc.c...
 compiling UART.c...
+compiling stm32f4xx_tim.c...
 compiling MyI2C.c...
+compiling CAN.c...
 compiling WaveFiltering_Kalman_Filtering.c...
 Control\WaveFiltering_Kalman_Filtering.c(13): warning:  #177-D: variable "pDst"  was declared but never referenced
  	   float pDst,pDst1=1.0f;
@@ -85,45 +86,36 @@ Control\WaveFiltering_Kalman_Filtering.c(13): warning:  #177-D: variable "pDst1"
 Control\WaveFiltering_Kalman_Filtering.c(32): warning:  #1-D: last line of file ends without a newline
   
 Control\WaveFiltering_Kalman_Filtering.c: 3 warnings, 0 errors
-compiling CAN.c...
 compiling LED.c...
 compiling Buzzer.c...
-compiling Remote.c...
 compiling IST8310.c...
+compiling Remote.c...
 compiling Laser.c...
 compiling BMI088.c...
-compiling LinkCheck.c...
 compiling GM6020.c...
-compiling M3508.c...
+compiling LinkCheck.c...
 compiling M2006.c...
-compiling CloseLoopControl.c...
 compiling Warming.c...
-compiling AttitudeAlgorithms.c...
+compiling M3508.c...
 compiling CToC.c...
-compiling IMUTemperatureControl.c...
-compiling Gimbal.c...
+compiling CloseLoopControl.c...
+compiling AttitudeAlgorithms.c...
 compiling PID.c...
-compiling RefereeSystem.c...
-compiling Visual.c...
-CarBody\Visual.c(76): warning:  #9-D: nested comment is not allowed
-  	UART2_Printf("%f %f %f %f  \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
-CarBody\Visual.c(115): warning:  #550-D: variable "Visual_Type"  was set but never used
-  char Visual_Type = '\0';       // 存储类型（r/b/u<><75>?
-CarBody\Visual.c(118): warning:  #550-D: variable "Visual_ReceiveFlag"  was set but never used
-  uint8_t Visual_ReceiveFlag = 0; // 接收完成标志
-CarBody\Visual.c(124): warning:  #550-D: variable "RxTimeoutTick"  was set but never used
-  static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒<E6AFAB><E7A792>?
-CarBody\Visual.c(288): warning:  #1-D: last line of file ends without a newline
-  		*/
-CarBody\Visual.c(19): warning:  #177-D: variable "dataType"  was declared but never referenced
-  static char dataType;               // 存储类型字段<E5AD97><E6AEB5>?'r'/'b'/'u'<27><>?
-CarBody\Visual.c: 6 warnings, 0 errors
 compiling Keyboard.c...
+compiling Visual.c...
+CarBody\Visual.c(68): warning:  #9-D: nested comment is not allowed
+  	UART2_Printf("%f %f %f %f  \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
+CarBody\Visual.c(165): warning:  #1-D: last line of file ends without a newline
+  }
+CarBody\Visual.c: 2 warnings, 0 errors
+compiling IMUTemperatureControl.c...
+compiling RefereeSystem.c...
+compiling Gimbal.c...
 compiling main.c...
 compiling stm32f4xx_it.c...
 linking...
-Program Size: Code=31024 RO-data=1372 RW-data=576 ZI-data=3344  
-".\Objects\Project.axf" - 0 Error(s), 9 Warning(s).
+Program Size: Code=31544 RO-data=1236 RW-data=552 ZI-data=3520  
+".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).

 <h2>Software Packages used:</h2>

@@ -135,7 +127,7 @@ Package Vendor: Keil
 <h2>Collection of Component include folders:</h2>

 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>
--- a/云台/云台/Objects/Project.htm
+++ b/云台/云台/Objects/Project.htm
--- a/云台/云台/Objects/Project_Target
+++ b/云台/云台/Objects/Project_Target
@@ -1741,7 +1741,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (.\Start\core_cmInstr.h)(0x64D03162)
 I (.\Start\core_cmFunc.h)(0x64D03162)
-I (.\Start\core_cmSimd.h)(0x64D03162)
+I (.\Start\core_cmSimd.h)(0x64D03162)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
@@ -1886,7 +1886,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164)
 I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
 I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
 I (.\Library\stm32f4xx_spi.h)(0x64D03164)
-I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
+I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
 I (.\Library\stm32f4xx_tim.h)(0x64D03164)
 I (.\Library\stm32f4xx_usart.h)(0x64D03164)
 I (.\Library\stm32f4xx_wwdg.h)(0x64D03164)
@@ -1921,11 +1921,11 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
 I (.\Library\stm32f4xx_exti.h)(0x64D03164)
 I (.\Library\stm32f4xx_flash.h)(0x64D03164)
 I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
-I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
+I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
 I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
 I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
 I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
-I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
+I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
 I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
 I (.\Library\stm32f4xx_spi.h)(0x64D03164)
 I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
@@ -2188,11 +2188,11 @@ I (.\Library\stm32f4xx_dac.h)(0x64D03164)
 I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
 I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
 I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
-I (.\Library\stm32f4xx_spi.h)(0x64D03164)
+I (.\Library\stm32f4xx_spi.h)(0x64D03164)
 I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
 I (.\Library\stm32f4xx_tim.h)(0x64D03164)
 I (.\Library\stm32f4xx_usart.h)(0x64D03164)
-I (.\Library\stm32f4xx_wwdg.h)(0x64D03164)
+I (.\Library\stm32f4xx_wwdg.h)(0x64D03164)
 I (.\Library\misc.h)(0x64D03164)
 I (.\Library\stm32f4xx_cryp.h)(0x64D03164)
 I (.\Library\stm32f4xx_hash.h)(0x64D03164)
@@ -2236,7 +2236,7 @@ I (.\Motor\GM6020.h)(0x669D1130)
 I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
 I (.\Library\stm32f4xx_tim.h)(0x64D03164)
 I (.\Library\stm32f4xx_usart.h)(0x64D03164)
-I (.\Library\stm32f4xx_wwdg.h)(0x64D03164)
+I (.\Library\stm32f4xx_wwdg.h)(0x64D03164)
 I (.\Library\misc.h)(0x64D03164)
 I (.\Library\stm32f4xx_cryp.h)(0x64D03164)
 I (.\Library\stm32f4xx_hash.h)(0x64D03164)
@@ -2271,12 +2271,12 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
 I (.\Library\stm32f4xx_dma.h)(0x64D03164)
 I (.\Library\stm32f4xx_exti.h)(0x64D03164)
 I (.\Library\stm32f4xx_flash.h)(0x64D03164)
-I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
+I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
 I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
-I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
+I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
 I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
 I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
-I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
+I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
 I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
 I (.\Library\stm32f4xx_spi.h)(0x64D03164)
 I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
@@ -2311,7 +2311,7 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
 I (.\Library\stm32f4xx_crc.h)(0x64D03164)
-I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
+I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
 I (.\Library\stm32f4xx_dma.h)(0x64D03164)
 I (.\Library\stm32f4xx_exti.h)(0x64D03164)
 I (.\Library\stm32f4xx_flash.h)(0x64D03164)
@@ -2397,7 +2397,7 @@ I (.\Library\stm32f4xx_dac.h)(0x64D03164)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
-I (.\Library\stm32f4xx_crc.h)(0x64D03164)
+I (.\Library\stm32f4xx_crc.h)(0x64D03164)
 I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
 I (.\Library\stm32f4xx_dma.h)(0x64D03164)
 I (.\Library\stm32f4xx_exti.h)(0x64D03164)
@@ -2435,14 +2435,14 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
 I (.\Start\stm32f4xx.h)(0x66256792)
 I (.\Start\core_cm4.h)(0x64D03162)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
-I (.\Start\core_cmInstr.h)(0x64D03162)
-I (.\Start\core_cmFunc.h)(0x64D03162)
+I (.\Start\core_cmInstr.h)(0x64D03162)
+I (.\Start\core_cmFunc.h)(0x64D03162)
 I (.\Start\core_cmSimd.h)(0x64D03162)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
 I (.\Library\stm32f4xx_crc.h)(0x64D03164)
-I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
+I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
 I (.\Library\stm32f4xx_dma.h)(0x64D03164)
 I (.\Library\stm32f4xx_exti.h)(0x64D03164)
 I (.\Library\stm32f4xx_flash.h)(0x64D03164)
@@ -2477,9 +2477,9 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)

 -o .\objects\m2006.o --omf_browse .\objects\m2006.crf --depend .\objects\m2006.d)
 I (.\Start\stm32f4xx.h)(0x66256792)
-I (.\Start\core_cm4.h)(0x64D03162)
-I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
-I (.\Start\core_cmInstr.h)(0x64D03162)
+I (.\Start\core_cm4.h)(0x64D03162)
+I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
+I (.\Start\core_cmInstr.h)(0x64D03162)
 I (.\Start\core_cmFunc.h)(0x64D03162)
 I (.\Start\core_cmSimd.h)(0x64D03162)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
@@ -2528,10 +2528,10 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
-I (.\Library\stm32f4xx_crc.h)(0x64D03164)
+I (.\Library\stm32f4xx_crc.h)(0x64D03164)
 I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
 I (.\Library\stm32f4xx_dma.h)(0x64D03164)
-I (.\Library\stm32f4xx_exti.h)(0x64D03164)
+I (.\Library\stm32f4xx_exti.h)(0x64D03164)
 I (.\Library\stm32f4xx_flash.h)(0x64D03164)
 I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
 I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
@@ -2573,9 +2573,6 @@ I (.\Function\AttitudeAlgorithms.h)(0x660A3E88)
 I (.\Start\core_cmSimd.h)(0x64D03162)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
-I (.\Library\stm32f4xx_adc.h)(0x64D03164)
-I (.\Library\stm32f4xx_crc.h)(0x64D03164)
-I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
 I (.\Library\stm32f4xx_crc.h)(0x64D03164)
 I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
@@ -2613,9 +2610,9 @@ I (.\Library\stm32f4xx_dac.h)(0x64D03164)
 F (.\Function\Warming.h)(0x66A19ADE)()
 F (.\Function\CToC.c)(0x669D344E)(--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

-I (.\Start\stm32f4xx.h)(0x66256792)
+-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"

 -o .\objects\ctoc.o --omf_browse .\objects\ctoc.crf --depend .\objects\ctoc.d)
 I (.\Start\stm32f4xx.h)(0x66256792)
@@ -2656,7 +2653,7 @@ I (.\System\Delay.h)(0x64FBE4AA)
 I (Function\CToC.h)(0x669D31F6)
 I (.\User\Parameter.h)(0x67E27657)
 I (.\CarBody\RefereeSystem.h)(0x66A1C17E)
-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
+F (.\Function\CToC.h)(0x669D31F6)()
 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
@@ -2666,20 +2663,20 @@ I (.\Motor\M2006.h)(0x669D1190)
 -o .\objects\closeloopcontrol.o --omf_browse .\objects\closeloopcontrol.crf --depend .\objects\closeloopcontrol.d)
 I (.\Start\stm32f4xx.h)(0x66256792)
 I (.\Start\core_cm4.h)(0x64D03162)
-I (.\Start\core_cmSimd.h)(0x64D03162)
+I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (.\Start\core_cmInstr.h)(0x64D03162)
 I (.\Start\core_cmFunc.h)(0x64D03162)
 I (.\Start\core_cmSimd.h)(0x64D03162)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
-I (.\Library\stm32f4xx_exti.h)(0x64D03164)
+I (.\Library\stm32f4xx_crc.h)(0x64D03164)
 I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
 I (.\Library\stm32f4xx_dma.h)(0x64D03164)
 I (.\Library\stm32f4xx_exti.h)(0x64D03164)
 I (.\Library\stm32f4xx_flash.h)(0x64D03164)
 I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
-I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
+I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
 I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
 I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
 I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
--- a/云台/云台/Objects/can.crf
+++ b/云台/云台/Objects/can.crf
--- a/云台/云台/Objects/closeloopcontrol.crf
+++ b/云台/云台/Objects/closeloopcontrol.crf
--- a/云台/云台/Objects/ctoc.crf
+++ b/云台/云台/Objects/ctoc.crf
--- a/云台/云台/Objects/gimbal.crf
+++ b/云台/云台/Objects/gimbal.crf
--- a/云台/云台/Objects/imutemperaturecontrol.crf
+++ b/云台/云台/Objects/imutemperaturecontrol.crf
--- a/云台/云台/Objects/keyboard.crf
+++ b/云台/云台/Objects/keyboard.crf
--- a/云台/云台/Objects/linkcheck.crf
+++ b/云台/云台/Objects/linkcheck.crf
--- a/云台/云台/Objects/main.crf
+++ b/云台/云台/Objects/main.crf
--- a/云台/云台/Objects/pid.crf
+++ b/云台/云台/Objects/pid.crf
--- a/云台/云台/Objects/refereesystem.crf
+++ b/云台/云台/Objects/refereesystem.crf
--- a/云台/云台/Objects/remote.crf
+++ b/云台/云台/Objects/remote.crf
--- a/云台/云台/Objects/visual.crf
+++ b/云台/云台/Objects/visual.crf
--- a/云台/云台/Objects/warming.crf
+++ b/云台/云台/Objects/warming.crf
--- a/云台/云台/Project.uvguix.LSMushui
+++ b/云台/云台/Project.uvguix.LSMushui
--- a/云台/云台/Project.uvguix.Lenovo
+++ b/云台/云台/Project.uvguix.Lenovo
--- a/云台/云台/Project.uvguix.peng1
+++ b/云台/云台/Project.uvguix.peng1
--- a/云台/云台/Project.uvoptx
+++ b/云台/云台/Project.uvoptx
@@ -120,7 +120,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>CMSIS_AGDI</Key>
-          <Name>-X"WCH CMSIS-DAP" -UF3EE87FE11CC -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@@ -2098,7 +2098,7 @@

  <Group>
    <GroupName>CarBody</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -2214,7 +2214,7 @@

  <Group>
    <GroupName>User</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
--- a/云台/云台/System/CAN.c
+++ b/云台/云台/System/CAN.c
@@ -9,10 +9,10 @@
 #include "CToC.h"
 #include "RefereeSystem.h"

-uint8_t CAN_CAN1DeviceNumber=4;//CAN1总线上设备数量
+uint8_t CAN_CAN1DeviceNumber=6;//CAN1总线上设备数量
 uint8_t CAN_CAN2DeviceNumber=2;//CAN2总线上设备数量
-uint8_t CAN_DeviceNumber=6;//CAN总线上设备数量
-uint32_t CAN_CAN1IDList[10][2]={{CAN_GM6020,GM6020_2},{CAN_M2006,M2006_7},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},0};//CAN1总线上设备ID列表
+uint8_t CAN_DeviceNumber=8;//CAN总线上设备数量
+uint32_t CAN_CAN1IDList[10][2]={{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},{CAN_M3508,M3508_3},{CAN_M3508,M3508_4},{CAN_M3508,M3508_7},0};//CAN1总线上设备ID列表
 uint32_t CAN_CAN2IDList[10][2]={{CAN_GM6020,GM6020_1},{CAN_RoboMasterC,CToC_MasterID1},0};//CAN2总线上设备ID列表
 int8_t CAN_IDSelect=0;//CAN总线上ID列表选择位

@@ -222,7 +222,7 @@ void CAN1_RX0_IRQHandler(void)
 			{
 				RefereeSystem_ShooterOpenCounter=0;
 				RefereeSystem_ShooterOpenFlag=0;//发射机构离开上电期间
-				CAN_CAN1DeviceNumber=4;//添加CAN设备
+				CAN_CAN1DeviceNumber=5;//添加CAN设备
 				CAN_DeviceNumber=6;
 			}
 		}
--- a/云台/云台/User/Parameter.h
+++ b/云台/云台/User/Parameter.h
@@ -2,19 +2,19 @@
 #define __PARAMETER_H

 /*=============================================结构参数=============================================*/
-#define Yaw_GM6020PositionValue								4000//Yaw轴编码器值4050
+#define Yaw_GM6020PositionValue								1000//Yaw轴编码器值4050
 #define Pitch_GM6020PositionValue							3245//Pitch轴编码器值
-#define Pitch_GM6020PositionLowerLinit						3500//Pitch轴编码器值下限
-#define Pitch_GM6020PositionUpperLinit						2700//Pitch轴编码器值上限
-#define Pitch_GM6020AngleLowerLinit							15.0f//Pitch轴编码器值下限
-#define Pitch_GM6020AngleUpperLinit							-10.0f//Pitch轴编码器值上限
+#define Pitch_GM6020PositionLowerLinit						7363//Pitch轴编码器值下限7363
+#define Pitch_GM6020PositionUpperLinit						8625//Pitch轴编码器值上限433 8625
+#define Pitch_GM6020AngleLowerLinit							5.0f//Pitch轴编码器值下限
+#define Pitch_GM6020AngleUpperLinit							-20.0f//Pitch轴编码器值上限

 /*=============================================云台参数=============================================*/
-#define Gimbal_FrictionWheelSpeed							5500//摩擦轮转速,弹速限制30m/s
-#define Gimbal_RammerSpeed									-5400//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限
+#define Gimbal_FrictionWheelSpeed							-10000//摩擦轮转速,弹速限制30m/s
+#define Gimbal_RammerSpeed									-50//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限

-#define Gimbal_LeverSpeedMapRate							2.0f//云台俯仰拨杆速度映射比例
-#define Gimbal_YawPitchSpeedRate							3.0f//云台偏航俯仰速度比
+#define Gimbal_LeverSpeedMapRate							1.0f//云台俯仰拨杆速度映射比例
+#define Gimbal_YawPitchSpeedRate							2.0f//云台偏航俯仰速度比

 /*=============================================操作手参数=============================================*/
 #define PC_Go												(Remote_RxData.Remote_Key_W)//前
--- a/云台/云台/User/main.c
+++ b/云台/云台/User/main.c
@@ -7,7 +7,7 @@
 #include "visual.h"
 #include "UART.h"

-#define DELAY_TIME 5   //D1定时的计数值
+#define DELAY_TIME 100   //D1定时的计数值


 unsigned int Delay_Count;   //D1的延时初始值
@@ -19,6 +19,7 @@ int main(void)
 	LED_BON();//蓝灯点亮表示代码在运行
 	AttitudeAlgorithms_Init();//姿态解算初始化
 	Delay_s(1);//延时,等待校准和模块启动
+	//CAN_CANInit();//CAN通讯初始化
 	LinkCheck_Init();//连接检测初始化
 	RefereeSystem_Init();//图传链路初始化
 	Visual_Init();//视觉初始化
@@ -54,7 +55,7 @@ int main(void)
 		{
 			Delay_Flag = 0;  //定时到标志位清零
 			//Debug();
-			Visual_SendData();
+			//Visual_SendData();
 			Visual_Trans();//视觉数据传输
 			Delay_Count = DELAY_TIME;   //计数值重装，为下一次非阻塞延时做准备
 		}
@@ -62,7 +63,7 @@ int main(void)


 		
-		Delay_us(1500);//CToC周期1.5ms
+		Delay_us(1000);//CToC周期1.5ms
 	}
 }