修复云台编码器正方向，等待优化PID参数
This commit is contained in:
@@ -11,6 +11,7 @@
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#include "RefereeSystem.h"
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#include "Visual.h"
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#include "WaveFiltering_Kalman_Filtering.h"
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#include "Delay.h"
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KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
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@@ -26,7 +27,7 @@ KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
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uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位
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bool Fire_Flag=0;//开火指示位，用于单发限位
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uint8_t Fire_Flag=0;//开火指示位，用于单发限位
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PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID;//Yaw轴GM6020电机PID
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PID_PositionInitTypedef Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID
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@@ -98,9 +99,9 @@ void Gimbal_Init(void)
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PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
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PID_PositionStructureInit(&Gimbal_RammerSpinPositionPID,Gimbal_RammerSpeed);//拨弹盘
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PID_PositionSetParameter(&Gimbal_RammerSpinPositionPID,50,50,0);
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PID_PositionSetParameter(&Gimbal_RammerSpinPositionPID,20,0,0);
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PID_PositionSetEkRange(&Gimbal_RammerSpinPositionPID,-20,20);
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PID_PositionSetOUTRange(&Gimbal_RammerSpinPositionPID,-2000,2000);
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PID_PositionSetOUTRange(&Gimbal_RammerSpinPositionPID,-20000,20000);
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@@ -139,12 +140,12 @@ void Gimbal_CleanPID(void)
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void Gimbal_PitchControl(void)
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{
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if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度
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if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
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if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1020) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
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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
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else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
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else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1030) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
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Gimbal_PitchAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;
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if(Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1 || Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1 )//自瞄,补偿角度
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if((Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1 ) || (Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1) )//自瞄,补偿角度
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{
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Visual_ReceiveFlag=0;
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@@ -159,10 +160,10 @@ void Gimbal_PitchControl(void)
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//串级PID闭环Pitch角
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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_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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//GM6020_CAN1SetLIDVoltage(0,Gimbal_YawAngleSpeedPID.OUT,0,0);
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}
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void Debug(void)
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@@ -185,14 +186,14 @@ void Gimbal_YawControl(void)
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{
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if(Remote_StartFlag==2)
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Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw;//遥控器刚建立连接时,复位Yaw轴角度
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if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1050)//根据摇杆改变偏航
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if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1030)//根据摇杆改变偏航
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{
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if(PC_Spin==0)
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Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f);
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else
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Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2);
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}
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else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1000)
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else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1020)
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{
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if(PC_Spin==0)
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Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f);
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@@ -204,8 +205,9 @@ void Gimbal_YawControl(void)
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PID_PositionCalc(&Gimbal_YawAnglePositionPID,AttitudeAlgorithms_DegYaw);
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Gimbal_YawAngleSpeedPID.Need_Value=Gimbal_YawAnglePositionPID.OUT;
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PID_PositionCalc(&Gimbal_YawAngleSpeedPID,GM6020_MotorStatus[0].Speed);
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GM6020_CAN2SetLIDVoltage(Gimbal_YawAngleSpeedPID.OUT,0,0,0);
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//UART2_Printf("%lld\n",GM6020_MotorStatus[Gimbal_YawMotor-0x205].Position);
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}
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/*
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@@ -219,7 +221,7 @@ void Gimbal_FiringMechanismControl(void)
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if(((Remote_RxData.Remote_LS==1 && RefereeSystem_Status==0) || PC_FrictionWheel==1) && RefereeSystem_ShooterStatus==1)//摩擦轮开
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{
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Gimbal_L1_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;
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Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;Gimbal_R2_FrictionWheelPID.Need_Value=- Gimbal_FrictionWheelSpeed;
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Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;Gimbal_R2_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;
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Laser_ON();//开激光
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Gimbal_FrictionWheelFlag=1;
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}
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@@ -258,9 +260,8 @@ void Gimbal_Rammer(void)
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else Gimbal_RammerSpinPositionPID.Need_Value=0;
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PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
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//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
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//PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
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//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
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M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
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Delay_ms(1);
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//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
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}
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@@ -274,31 +275,34 @@ void Gimbal_Rammer_Single_fire(void)
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{
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if(Gimbal_FrictionWheelFlag==1)
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{
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if(((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1) && Fire_Flag != 1;)
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{
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Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value-Gimbal_RammerSingleAmmo;//3,2,1 Fire!!!
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Fire_Flag=1;//单次开火标志置1
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if((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1)
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{ if(Fire_Flag == 0)
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{
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Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value-Gimbal_RammerSingleAmmo;//3,2,1 Fire!!!
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Fire_Flag=1;
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}
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else
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Gimbal_RammerSpinPositionPID.Need_Value=0;
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//单次开火标志置1
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}
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else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
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{
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Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value+Gimbal_RammerSpeed;//退弹
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Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value+Gimbal_RammerSingleAmmo;//退弹
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Fire_Flag=0;//退弹就不用一发一发退了
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}
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else
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Gimbal_RammerSpinPositionPID.Need_Value=0;//停止开火！
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Fire_Flag=0;
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}
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else Gimbal_RammerSpinPositionPID.Need_Value=0;//防止意外走火？
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else
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Gimbal_RammerSpinPositionPID.Need_Value=0;//防止意外走火？
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Fire_Flag=0;
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PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
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//M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
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//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
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//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
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//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
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}
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/*
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*函数简介:云台运动控制
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*参数说明:无
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@@ -312,5 +316,6 @@ void Gimbal_MoveControl(void)
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Gimbal_FiringMechanismControl();//摩擦轮控制
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Gimbal_Rammer();//拨弹盘控制
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//Gimbal_Rammer_Single_fire();
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//UART2_Printf("%f,%f,%f,%f\n",Gimbal_PitchAngleSpeedPID.Need_Value,Gimbal_PitchAngleSpeedPID.Now_Value,Gimbal_PitchAnglePositionPID.Now_Value,Gimbal_PitchAnglePositionPID.Need_Value);
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}
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Binary file not shown.
@@ -22,15 +22,100 @@ 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-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
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Project File Date: 03/23/2026
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Project File Date: 03/24/2026
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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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Build target 'Target 1'
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Rebuild target 'Target 1'
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assembling startup_stm32f40_41xxx.s...
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compiling misc.c...
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compiling stm32f4xx_cec.c...
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compiling system_stm32f4xx.c...
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compiling stm32f4xx_crc.c...
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compiling stm32f4xx_cryp.c...
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compiling stm32f4xx_cryp_tdes.c...
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compiling stm32f4xx_flash.c...
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compiling stm32f4xx_dma2d.c...
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compiling stm32f4xx_can.c...
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compiling stm32f4xx_dac.c...
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compiling stm32f4xx_fsmc.c...
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compiling stm32f4xx_dsi.c...
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compiling stm32f4xx_adc.c...
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compiling stm32f4xx_exti.c...
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compiling stm32f4xx_gpio.c...
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compiling stm32f4xx_fmpi2c.c...
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compiling stm32f4xx_flash_ramfunc.c...
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compiling stm32f4xx_dbgmcu.c...
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compiling stm32f4xx_dcmi.c...
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compiling stm32f4xx_dfsdm.c...
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compiling stm32f4xx_cryp_des.c...
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compiling stm32f4xx_dma.c...
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compiling stm32f4xx_cryp_aes.c...
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compiling stm32f4xx_hash_md5.c...
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compiling stm32f4xx_hash.c...
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compiling stm32f4xx_lptim.c...
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compiling stm32f4xx_hash_sha1.c...
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compiling stm32f4xx_iwdg.c...
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compiling stm32f4xx_i2c.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 stm32f4xx_ltdc.c...
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compiling stm32f4xx_rcc.c...
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compiling stm32f4xx_sai.c...
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compiling stm32f4xx_spdifrx.c...
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compiling stm32f4xx_rtc.c...
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compiling stm32f4xx_sdio.c...
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compiling stm32f4xx_syscfg.c...
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compiling Delay.c...
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compiling stm32f4xx_spi.c...
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compiling stm32f4xx_wwdg.c...
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compiling TIM.c...
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compiling AHRS_middleware.c...
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compiling stm32f4xx_usart.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 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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Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst1" was declared but never referenced
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float pDst,pDst1=1.0f;
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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 MyI2C.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 IST8310.c...
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compiling Laser.c...
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compiling BMI088.c...
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compiling M3508.c...
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compiling GM6020.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 CToC.c...
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compiling CloseLoopControl.c...
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compiling IMUTemperatureControl.c...
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compiling AttitudeAlgorithms.c...
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compiling PID.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 Gimbal.c...
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compiling RefereeSystem.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=31572 RO-data=1236 RW-data=552 ZI-data=3544
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".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
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Program Size: Code=31688 RO-data=1236 RW-data=552 ZI-data=3544
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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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@@ -42,7 +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: 00:00:01
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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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File diff suppressed because it is too large
Load Diff
@@ -1741,7 +1741,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
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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)(0x69B4F633)
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I (.\Start\core_cmFunc.h)(0x69B4F633)
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I (.\Start\core_cmSimd.h)(0x69B4F633)
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I (.\Start\core_cmSimd.h)(0x69B4F633)
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I (.\Start\system_stm32f4xx.h)(0x69B4F633)
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I (.\User\stm32f4xx_conf.h)(0x69B4F633)
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I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
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@@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
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I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
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I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
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I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
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I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
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I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
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I (.\Library\stm32f4xx_pwr.h)(0x69B4F632)
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I (.\Library\stm32f4xx_rcc.h)(0x69B4F632)
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I (.\Library\stm32f4xx_rtc.h)(0x69B4F632)
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@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x69B4F631)
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I (.\User\stm32f4xx_conf.h)(0x69B4F633)
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I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
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I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
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I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
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I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
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I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
|
||||
@@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F631)
|
||||
|
||||
-o .\objects\m2006.o --omf_browse .\objects\m2006.crf --depend .\objects\m2006.d)
|
||||
I (.\Start\stm32f4xx.h)(0x69B4F633)
|
||||
I (.\Start\core_cm4.h)(0x69B4F633)
|
||||
I (.\Start\core_cm4.h)(0x69B4F633)
|
||||
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
|
||||
I (.\Start\core_cmInstr.h)(0x69B4F633)
|
||||
I (.\Start\core_cmFunc.h)(0x69B4F633)
|
||||
@@ -2489,6 +2489,7 @@ I (CarBody\RefereeSystem.h)(0x69B4F631)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
|
||||
@@ -2612,7 +2613,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632)
|
||||
-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"
|
||||
-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)(0x69B4F633)
|
||||
I (.\Start\core_cm4.h)(0x69B4F633)
|
||||
@@ -2670,13 +2671,13 @@ I (.\Function\CToC.h)(0x69B4F631)
|
||||
I (.\User\stm32f4xx_conf.h)(0x69B4F633)
|
||||
I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
|
||||
I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
|
||||
I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_pwr.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_rcc.h)(0x69B4F632)
|
||||
I (.\Library\stm32f4xx_rtc.h)(0x69B4F632)
|
||||
|
||||
Binary file not shown.
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File diff suppressed because one or more lines are too long
@@ -145,7 +145,7 @@
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ST-LINKIII-KEIL_SWO</Key>
|
||||
<Name>-U-O206 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
|
||||
<Name>-U040C0D038416303030303032 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("") -D00(00000000) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8000 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0-R0</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
@@ -1810,7 +1810,7 @@
|
||||
|
||||
<Group>
|
||||
<GroupName>Motor</GroupName>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
|
||||
@@ -10,7 +10,7 @@
|
||||
<TargetName>Target 1</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
<ToolsetName>ARM-ADS</ToolsetName>
|
||||
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7</pArmCC>
|
||||
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
|
||||
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
|
||||
<uAC6>0</uAC6>
|
||||
<TargetOption>
|
||||
|
||||
@@ -12,7 +12,7 @@
|
||||
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=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_CAN1IDList[10][2]={{CAN_M3508,M3508_7},{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},{CAN_M3508,M3508_3},{CAN_M3508,M3508_4},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
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#define __PARAMETER_H
|
||||
|
||||
/*=============================================结构参数=============================================*/
|
||||
#define Yaw_GM6020PositionValue 6200////Yaw轴回正时编码器值
|
||||
#define Yaw_GM6020PositionValue 5733////Yaw轴回正时编码器值
|
||||
#define Pitch_GM6020PositionValue 3245//Pitch轴编码器值
|
||||
#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
|
||||
@@ -10,9 +10,9 @@
|
||||
#define Pitch_GM6020AngleUpperLinit -20.0f//Pitch轴编码器值上限
|
||||
|
||||
/*=============================================云台参数=============================================*/
|
||||
#define Gimbal_FrictionWheelSpeed -5000//摩擦轮转速,弹速限制30m/s
|
||||
#define Gimbal_RammerSpeed -5000//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_RammerSingleAmmo -15//拨弹盘3508单发旋转编码值
|
||||
#define Gimbal_FrictionWheelSpeed -4000//摩擦轮转速 对应大弹丸11.7M/s
|
||||
#define Gimbal_RammerSpeed -2500//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_RammerSingleAmmo -200//拨弹盘3508单发旋转编码值
|
||||
|
||||
#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
|
||||
|
||||
Reference in New Issue
Block a user