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添加单发限位函数，但并未启用

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Qi Bin
2026-03-24 15:06:41 +08:00
parent cd653a5c1f
commit dbac677902
1 changed files with 26 additions and 30 deletions
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56
云台/云台/CarBody/Gimbal.c
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@@ -26,12 +26,12 @@ KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位
uint8_t Fire_Flag=0;//开火指示位，用于单发限位
bool Fire_Flag=0;//开火指示位，用于单发限位
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_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
PID_PositionInitTypedef Gimbal_RammerSpinPositionPID;//拨弹盘旋转PID
/*
*函数简介:云台初始化
@@ -97,10 +97,10 @@ void Gimbal_Init(void)
PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-1,1);
PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,Gimbal_RammerSpeed);//拨弹盘
PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,50,1,0);
PID_PositionSetEkRange(&Gimbal_RammerSpinSpeedPID,-1,1);
PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-2000,2000);
PID_PositionStructureInit(&Gimbal_RammerSpinPositionPID,Gimbal_RammerSpeed);//拨弹盘
PID_PositionSetParameter(&Gimbal_RammerSpinPositionPID,50,50,0);
PID_PositionSetEkRange(&Gimbal_RammerSpinPositionPID,-20,20);
PID_PositionSetOUTRange(&Gimbal_RammerSpinPositionPID,-2000,2000);
@@ -123,7 +123,7 @@ void Gimbal_CleanPID(void)
PID_PositionClean(&Gimbal_R1_FrictionWheelPID);
PID_PositionClean(&Gimbal_L2_FrictionWheelPID);
PID_PositionClean(&Gimbal_R2_FrictionWheelPID);
PID_PositionClean(&Gimbal_RammerSpinSpeedPID);
PID_PositionClean(&Gimbal_RammerSpinPositionPID);
}
@@ -249,19 +249,19 @@ void Gimbal_Rammer(void)
if(Gimbal_FrictionWheelFlag==1)
{
if((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1)
Gimbal_RammerSpinSpeedPID.Need_Value+=-Gimbal_RammerSpeed;
Gimbal_RammerSpinPositionPID.Need_Value=-Gimbal_RammerSpeed;
else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
Gimbal_RammerSpinSpeedPID.Need_Value+=Gimbal_RammerSpeed;
Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpeed;
else
Gimbal_RammerSpinSpeedPID.Need_Value=0;
Gimbal_RammerSpinPositionPID.Need_Value=0;
}
else Gimbal_RammerSpinSpeedPID.Need_Value=0;
else Gimbal_RammerSpinPositionPID.Need_Value=0;
PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0);
PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
//PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
}
/*
@@ -274,31 +274,27 @@ void Gimbal_Rammer_Single_fire(void)
{
if(Gimbal_FrictionWheelFlag==1)
{
if(((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1) && Fire_Flag == 0)
if(((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1) && Fire_Flag != 1;)
{
Gimbal_RammerSpinSpeedPID.Need_Value+=-Gimbal_RammerSpeed;//3,2,1 Fire!!!
Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value-Gimbal_RammerSingleAmmo;//3,2,1 Fire!!!
Fire_Flag=1;//单次开火标志置1
}
else if(((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1) && Fire_Flag == 1)
else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
{
Gimbal_RammerSpinSpeedPID.Need_Value+=Gimbal_RammerSpeed;//退弹
Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value+Gimbal_RammerSpeed;//退弹
Fire_Flag=0;//退弹就不用一发一发退了
}
else if(((Remote_RxData.Remote_ThumbWheel>1000 && Remote_RxData.Remote_ThumbWheel<1050) ) && Fire_Flag == 1)
{
//Gimbal_RammerSpinSpeedPID.Need_Value=0;//停止开火！
else
Gimbal_RammerSpinPositionPID.Need_Value=0;//停止开火！
Fire_Flag=0;
}
}
//else
//Gimbal_RammerSpinSpeedPID.Need_Value=0;//防止意外走火？
else Gimbal_RammerSpinPositionPID.Need_Value=0;//防止意外走火？
PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorPosition);
PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0);
//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
}