暂时关闭云台pitch、yaw轴电机控制

云台/云台/CarBody/Gimbal.c

@@ -274,9 +274,12 @@ void Gimbal_Rammer(void)
  */
 void Gimbal_MoveControl(void)
 {
-	Gimbal_PitchControl();//云台Pitch轴控制
+	//Raw Code//
-	Gimbal_YawControl();//云台Yaw轴控制
+	//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_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);

云台/云台/Objects/Project.build_log.htm

@@ -21,7 +21,7 @@ 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\New-Infantry-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
+C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
 Project File Date:  11/02/2025
 
 <h2>Output:</h2>
@@ -29,57 +29,54 @@ Project File Date:  11/02/2025
 Rebuild target 'Target 1'
 assembling startup_stm32f40_41xxx.s...
 compiling misc.c...
-compiling system_stm32f4xx.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_fmpi2c.c...
 compiling stm32f4xx_exti.c...
-compiling stm32f4xx_dcmi.c...
-compiling stm32f4xx_can.c...
-compiling stm32f4xx_cryp_des.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_cryp_tdes.c...
-compiling stm32f4xx_dma.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_crc.c...
 compiling stm32f4xx_dac.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_cryp_aes.c...
 compiling stm32f4xx_dma2d.c...
-compiling stm32f4xx_cec.c...
+compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_gpio.c...
-compiling stm32f4xx_fsmc.c...
-compiling stm32f4xx_adc.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_crc.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_fsmc.c...
 compiling stm32f4xx_flash.c...
 compiling stm32f4xx_hash.c...
 compiling stm32f4xx_hash_md5.c...
-compiling stm32f4xx_cryp_aes.c...
 compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_lptim.c...
+compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_i2c.c...
-compiling stm32f4xx_ltdc.c...
 compiling stm32f4xx_qspi.c...
-compiling AHRS_middleware.c...
 compiling stm32f4xx_pwr.c...
-compiling stm32f4xx_sdio.c...
+compiling stm32f4xx_ltdc.c...
-compiling user_lib.c...
-compiling stm32f4xx_rcc.c...
 compiling stm32f4xx_rng.c...
-compiling stm32f4xx_spdifrx.c...
+compiling stm32f4xx_sdio.c...
-compiling Delay.c...
-compiling TIM.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_wwdg.c...
-compiling stm32f4xx_spi.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_wwdg.c...
 compiling stm32f4xx_usart.c...
-compiling CAN.c...
-compiling MyI2C.c...
-compiling UART.c...
 compiling stm32f4xx_rtc.c...
+compiling Delay.c...
 compiling stm32f4xx_tim.c...
-compiling Buzzer.c...
+compiling user_lib.c...
-compiling LED.c...
+compiling TIM.c...
+compiling UART.c...
+compiling MyI2C.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;
@@ -88,24 +85,25 @@ 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 Laser.c...
 compiling BMI088.c...
-compiling IST8310.c...
+compiling LinkCheck.c...
-compiling M2006.c...
 compiling GM6020.c...
 compiling M3508.c...
-compiling LinkCheck.c...
+compiling M2006.c...
+compiling CloseLoopControl.c...
 compiling Warming.c...
+compiling AttitudeAlgorithms.c...
 compiling CToC.c...
 compiling IMUTemperatureControl.c...
-compiling CloseLoopControl.c...
-compiling AttitudeAlgorithms.c...
-compiling PID.c...
-compiling Keyboard.c...
 compiling Gimbal.c...
+compiling PID.c...
 compiling RefereeSystem.c...
-compiling main.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*/
@@ -120,9 +118,11 @@ 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 main.c...
 compiling stm32f4xx_it.c...
 linking...
-Program Size: Code=32060 RO-data=1372 RW-data=576 ZI-data=3344  
+Program Size: Code=31024 RO-data=1372 RW-data=576 ZI-data=3344  
 ".\Objects\Project.axf" - 0 Error(s), 9 Warning(s).
 
 <h2>Software Packages used:</h2>

云台/云台/Objects/Project_Target 1.dep

@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)
 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)

底盘/底盘/CarBody/Mecanum.c

@@ -54,8 +54,10 @@ void Mecanum_Init(void)
 	PID_PositionSetOUTRange(&Mecanum_SpeedPID[3],-15000,15000);
 	
 	PID_PositionStructureInit(&Mecanum_TrackPID,Yaw_GM6020PositionValue);//底盘跟随
-	//PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8);
 	
+	//Raw Code//
+	//PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8);
+	//Testing Code//
 	PID_PositionSetParameter(&Mecanum_TrackPID,0.00,0,0);
 	
 	PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1);
@@ -169,7 +171,11 @@ void Mecanum_PowerMoveControl(void)
 		vy=vy/sigma*Mecanum_PowerControlSpeedNormalizationValue;
 	}
 	
-	int16_t Raw_Theta=Yaw_GM6020PositionValue-GM6020_MotorStatus[0].Angle;//获取底盘云台相对角度原始数据
+	//Raw Code//
+	//int16_t Raw_Theta=Yaw_GM6020PositionValue-GM6020_MotorStatus[0].Angle;//获取底盘云台相对角度原始数据
+	//Testing Code//
+	int16_t Raw_Theta=0;//关闭云台角度，仅用于调试底盘
+
 	if(Raw_Theta<0)Raw_Theta+=8192;
 	//Mecanum_YawTheta=Raw_Theta/8192.0f*2.0f*3.141592653589793238462643383279f;
 	Mecanum_YawTheta=Raw_Theta*0.000766990393942820614859043794746f;//获取底盘云台相对角度

底盘/底盘/Objects/Project.build_log.htm

@@ -21,81 +21,81 @@ 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\testwork\New-Infantry-C-Board-Legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
+C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\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 stm32f4xx_cec.c...
-compiling misc.c...
-compiling stm32f4xx_dcmi.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_cryp_des.c...
 compiling system_stm32f4xx.c...
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_can.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_crc.c...
-compiling stm32f4xx_cryp_tdes.c...
-compiling stm32f4xx_exti.c...
-compiling stm32f4xx_gpio.c...
-compiling stm32f4xx_dma.c...
-compiling stm32f4xx_dac.c...
 compiling stm32f4xx_cryp.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_crc.c...
+compiling stm32f4xx_cec.c...
+compiling stm32f4xx_dac.c...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling misc.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dma.c...
 compiling stm32f4xx_dma2d.c...
-compiling stm32f4xx_flash.c...
 compiling stm32f4xx_fsmc.c...
+compiling stm32f4xx_flash.c...
 compiling stm32f4xx_cryp_aes.c...
 compiling stm32f4xx_hash.c...
-compiling stm32f4xx_qspi.c...
 compiling stm32f4xx_hash_md5.c...
-compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_hash_sha1.c...
+compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_i2c.c...
 compiling stm32f4xx_pwr.c...
 compiling stm32f4xx_ltdc.c...
-compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_qspi.c...
 compiling stm32f4xx_rng.c...
-compiling stm32f4xx_spdifrx.c...
-compiling stm32f4xx_syscfg.c...
-compiling Delay.c...
 compiling TIM.c...
+compiling stm32f4xx_sdio.c...
+compiling stm32f4xx_spdifrx.c...
+compiling stm32f4xx_sai.c...
+compiling stm32f4xx_rcc.c...
+compiling Delay.c...
 compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_syscfg.c...
+compiling stm32f4xx_spi.c...
+compiling stm32f4xx_usart.c...
 compiling stm32f4xx_rtc.c...
 compiling UART.c...
-compiling stm32f4xx_sai.c...
-compiling stm32f4xx_spi.c...
-compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_usart.c...
 compiling stm32f4xx_tim.c...
 compiling CAN.c...
 compiling LED.c...
+compiling Buzzer.c...
 compiling Remote.c...
-compiling Warming.c...
+compiling M3508.c...
 compiling GM6020.c...
+compiling Warming.c...
 compiling LinkCheck.c...
 compiling CToC.c...
-compiling Buzzer.c...
-compiling M3508.c...
 compiling CloseLoopControl.c...
 compiling PID.c...
-compiling RefereeSystem.c...
-compiling Mecanum.c...
-compiling RefereeSystem_CRCTable.c...
 compiling UI.c...
-compiling main.c...
+compiling RefereeSystem_CRCTable.c...
 compiling Ultra_CAP.c...
-compiling UI_Library.c...
+compiling RefereeSystem.c...
 compiling stm32f4xx_it.c...
 compiling UI_Base.c...
+compiling Mecanum.c...
+compiling main.c...
+compiling UI_Library.c...
 linking...
-Program Size: Code=18632 RO-data=1224 RW-data=408 ZI-data=2496  
+Program Size: Code=18624 RO-data=1224 RW-data=408 ZI-data=2496  
 ".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -108,7 +108,7 @@ 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>

底盘/底盘/Objects/Project.htm

@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\Project.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sun Nov 02 21:13:17 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sun Nov 02 21:32:48 2025
 <BR><P>
 <H3>Maximum Stack Usage =        232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -934,7 +934,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CloseLoopControl_Init
 </UL>
 
-<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 2004 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
+<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 1994 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
 <BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = Mecanum_PowerMoveControl &rArr; Mecanum_ControlSpeed &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Ultra_CAP_SetPower

底盘/底盘/Objects/Project_Target 1.dep

@@ -2132,7 +2132,7 @@ 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)