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暂时关闭云台pitch、yaw轴电机控制

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This commit is contained in:
Qi Bin
2025-11-02 21:51:32 +08:00
parent 7c4aa06a2a
commit da96267d8b
15 changed files with 683 additions and 696 deletions
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云台/云台.zip
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9
云台/云台/CarBody/Gimbal.c
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@@ -274,9 +274,12 @@ void Gimbal_Rammer(void)
*/
void Gimbal_MoveControl(void)
{
Gimbal_PitchControl();//云台Pitch轴控制
Gimbal_YawControl();//云台Yaw轴控制
//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_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);

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云台/云台/Objects/Project.axf
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88
云台/云台/Objects/Project.build_log.htm
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@@ -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_gpio.c...
compiling stm32f4xx_fsmc.c...
compiling stm32f4xx_adc.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_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 user_lib.c...
compiling stm32f4xx_rcc.c...
compiling stm32f4xx_ltdc.c...
compiling stm32f4xx_rng.c...
compiling stm32f4xx_spdifrx.c...
compiling Delay.c...
compiling TIM.c...
compiling stm32f4xx_syscfg.c...
compiling stm32f4xx_wwdg.c...
compiling stm32f4xx_spi.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_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 LED.c...
compiling user_lib.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 M2006.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 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>

1026
云台/云台/Objects/Project.htm
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2
云台/云台/Objects/Project_Target 1.dep
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@@ -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)

BIN
云台/云台/Objects/gimbal.crf
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146
云台/云台/Project.uvguix.LSMushui
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10
底盘/底盘/CarBody/Mecanum.c
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@@ -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

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底盘/底盘/Objects/Project.axf
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78
底盘/底盘/Objects/Project.build_log.htm
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@@ -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>

4
底盘/底盘/Objects/Project.htm
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@@ -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

2
底盘/底盘/Objects/Project_Target 1.dep
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@@ -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)

BIN
底盘/底盘/Objects/mecanum.crf
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14
底盘/底盘/Project.uvguix.LSMushui
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