From ea96fd833509860b2d2e2b37a7f648057e8d3993 Mon Sep 17 00:00:00 2001 From: LSMushui Date: Thu, 9 Apr 2026 17:01:36 +0800 Subject: [PATCH] =?UTF-8?q?RMUL=202026=E6=9C=80=E7=BB=88=E4=B8=8A=E5=9C=BA?= =?UTF-8?q?=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 云台/云台/CarBody/Gimbal.c | 14 ++-- 云台/云台/Objects/Project.axf | Bin 724560 -> 724564 bytes 云台/云台/Objects/Project.build_log.htm | 82 ++++++++++++------------ 云台/云台/Objects/Project.htm | 8 +-- 云台/云台/Objects/Project_Target 1.dep | 12 ++-- 云台/云台/Objects/can.crf | Bin 452722 -> 452722 bytes 云台/云台/Objects/ctoc.crf | Bin 448541 -> 448541 bytes 云台/云台/Objects/gimbal.crf | Bin 462711 -> 462711 bytes 云台/云台/Objects/main.crf | Bin 468722 -> 468722 bytes 云台/云台/Project.uvguix.LSMushui | 26 ++++---- 云台/云台/System/CAN.c | 10 +-- 云台/云台/User/Parameter.h | 4 +- 底盘/底盘/CarBody/Mecanum.c | 2 +- 底盘/底盘/Objects/Project.axf | Bin 599888 -> 599884 bytes 底盘/底盘/Objects/Project.build_log.htm | 62 +++++++++--------- 底盘/底盘/Objects/Project.htm | 2 +- 底盘/底盘/Objects/Project_Target 1.dep | 8 +-- 底盘/底盘/Objects/main.crf | Bin 462138 -> 462138 bytes 底盘/底盘/Objects/mecanum.crf | Bin 466133 -> 466133 bytes 底盘/底盘/Project.uvguix.LSMushui | 18 +++--- 底盘/底盘/User/Parameter.h | 4 +- 21 files changed, 126 insertions(+), 126 deletions(-) diff --git a/云台/云台/CarBody/Gimbal.c b/云台/云台/CarBody/Gimbal.c index ff03815..75953ca 100644 --- a/云台/云台/CarBody/Gimbal.c +++ b/云台/云台/CarBody/Gimbal.c @@ -67,7 +67,7 @@ void Gimbal_Init(void) PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200); PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,150,0,20); PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1); - PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-50000,50000); + PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-30000,30000); PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环 PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,40,0,700); @@ -76,7 +76,7 @@ void Gimbal_Init(void) PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150); PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,150,0.001,7); PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0.1,0.1); - PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-50000,50000); + PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000); PID_PositionStructureInit(&Gimbal_L1_FrictionWheelPID,0);//左摩擦轮 PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,15,0,0); @@ -140,9 +140,9 @@ void Gimbal_CleanPID(void) void Gimbal_PitchControl(void) { 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)<1020) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit) + if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1030) && 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)>1030) && AttitudeAlgorithms_DegRoll1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1030)//根据摇杆改变偏航 + if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1028)//根据摇杆改变偏航 { if(PC_Spin==0) Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f); else Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2); } - else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1020) + else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1022) { if(PC_Spin==0) Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f); @@ -261,7 +261,7 @@ void Gimbal_Rammer(void) PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed); M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0); - Delay_ms(1); + Delay_us(1500); //M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0); } diff --git a/云台/云台/Objects/Project.axf b/云台/云台/Objects/Project.axf index c2824b59f5647716acf0136925f302c33eabbca0..0247f14fafecfb853bf36ef67d4c773529d697d0 100644 GIT binary patch delta 1812 zcmY*a3v5(H6n$^r>vrdEwJky{P%Tv|K@oQMz5PjmZ2@Tk`wtig}~AtG#Tbtx z)@^{M(83Ckrbtbpy3g!xl2~%_S*hgW(MXrGB2ZWx$c_G;BuRsQNg4^4_^(>Bt8*Ue zDaqY-S%Og29*?JaK71e?ULZ+XIP|$vxbBE&Ql4$Rg;<{<*3#lcYve+Bd)=n0;G=RwUH{Gt 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'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin' Rebuild target 'Target 1' assembling startup_stm32f40_41xxx.s... -compiling misc.c... -compiling stm32f4xx_cec.c... compiling system_stm32f4xx.c... +compiling misc.c... compiling stm32f4xx_crc.c... -compiling stm32f4xx_cryp.c... -compiling stm32f4xx_cryp_tdes.c... -compiling stm32f4xx_flash.c... -compiling stm32f4xx_dma2d.c... -compiling stm32f4xx_can.c... -compiling stm32f4xx_dac.c... -compiling stm32f4xx_fsmc.c... -compiling stm32f4xx_dsi.c... -compiling stm32f4xx_adc.c... -compiling stm32f4xx_exti.c... -compiling stm32f4xx_gpio.c... -compiling stm32f4xx_fmpi2c.c... -compiling stm32f4xx_flash_ramfunc.c... -compiling stm32f4xx_dbgmcu.c... -compiling stm32f4xx_dcmi.c... compiling stm32f4xx_dfsdm.c... +compiling stm32f4xx_cryp.c... compiling stm32f4xx_cryp_des.c... +compiling stm32f4xx_cec.c... +compiling stm32f4xx_cryp_tdes.c... +compiling stm32f4xx_can.c... +compiling stm32f4xx_adc.c... +compiling stm32f4xx_dac.c... +compiling stm32f4xx_dsi.c... +compiling stm32f4xx_dbgmcu.c... compiling stm32f4xx_dma.c... +compiling stm32f4xx_flash_ramfunc.c... +compiling stm32f4xx_fmpi2c.c... +compiling stm32f4xx_exti.c... +compiling stm32f4xx_dcmi.c... +compiling stm32f4xx_flash.c... +compiling stm32f4xx_gpio.c... +compiling stm32f4xx_dma2d.c... +compiling stm32f4xx_fsmc.c... compiling stm32f4xx_cryp_aes.c... -compiling stm32f4xx_hash_md5.c... compiling stm32f4xx_hash.c... -compiling stm32f4xx_lptim.c... +compiling stm32f4xx_hash_md5.c... compiling stm32f4xx_hash_sha1.c... -compiling stm32f4xx_iwdg.c... compiling stm32f4xx_i2c.c... -compiling stm32f4xx_qspi.c... +compiling stm32f4xx_iwdg.c... +compiling stm32f4xx_lptim.c... compiling stm32f4xx_pwr.c... -compiling stm32f4xx_rng.c... -compiling stm32f4xx_ltdc.c... -compiling stm32f4xx_rcc.c... -compiling stm32f4xx_sai.c... +compiling stm32f4xx_qspi.c... compiling stm32f4xx_spdifrx.c... -compiling stm32f4xx_rtc.c... -compiling stm32f4xx_sdio.c... -compiling stm32f4xx_syscfg.c... -compiling Delay.c... -compiling stm32f4xx_spi.c... -compiling stm32f4xx_wwdg.c... +compiling stm32f4xx_rng.c... compiling TIM.c... +compiling stm32f4xx_wwdg.c... +compiling stm32f4xx_ltdc.c... +compiling stm32f4xx_syscfg.c... +compiling stm32f4xx_sai.c... +compiling Delay.c... +compiling stm32f4xx_rcc.c... +compiling stm32f4xx_spi.c... compiling AHRS_middleware.c... +compiling stm32f4xx_sdio.c... compiling stm32f4xx_usart.c... compiling UART.c... -compiling user_lib.c... +compiling stm32f4xx_rtc.c... compiling stm32f4xx_tim.c... +compiling user_lib.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; @@ -84,35 +86,33 @@ 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 MyI2C.c... compiling LED.c... compiling Buzzer.c... compiling Remote.c... +compiling BMI088.c... compiling IST8310.c... compiling Laser.c... -compiling BMI088.c... compiling M3508.c... -compiling GM6020.c... compiling LinkCheck.c... compiling M2006.c... -compiling Warming.c... +compiling GM6020.c... compiling CToC.c... +compiling Warming.c... compiling CloseLoopControl.c... -compiling IMUTemperatureControl.c... compiling AttitudeAlgorithms.c... compiling PID.c... +compiling IMUTemperatureControl.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 Gimbal.c... compiling RefereeSystem.c... +compiling Gimbal.c... compiling Keyboard.c... -compiling main.c... compiling stm32f4xx_it.c... +compiling main.c... linking... Program Size: Code=31688 RO-data=1236 RW-data=552 ZI-data=3544 ".\Objects\Project.axf" - 0 Error(s), 5 Warning(s). @@ -127,7 +127,7 @@ Package Vendor: Keil

Collection of Component include folders:

Collection of Component Files used:

-Build Time Elapsed: 00:00:05 +Build Time Elapsed: 00:00:04 diff --git a/云台/云台/Objects/Project.htm b/云台/云台/Objects/Project.htm index c7d7071..f58b7e1 100644 --- a/云台/云台/Objects/Project.htm +++ b/云台/云台/Objects/Project.htm @@ -3,7 +3,7 @@ Static Call Graph - [.\Objects\Project.axf]

Static Call Graph for image .\Objects\Project.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Fri Mar 27 09:17:46 2026 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sat Mar 28 08:56:26 2026

Maximum Stack Usage = 280 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -1066,7 +1066,6 @@ Global Symbols
[Called By]
  • >>   IST8310_Init
  • >>   BMI088_Init
  • >>   Delay_s -
  • >>   Gimbal_Rammer

Delay_s (Thumb, 24 bytes, Stack size 8 bytes, delay.o(i.Delay_s)) @@ -1079,6 +1078,7 @@ Global Symbols

Delay_us (Thumb, 74 bytes, Stack size 0 bytes, delay.o(i.Delay_us))

[Called By]

  • >>   Delay_ms +
  • >>   Gimbal_Rammer
  • >>   main
@@ -1259,10 +1259,10 @@ Global Symbols
[Called By]
  • >>   Gimbal_MoveControl
-

Gimbal_Rammer (Thumb, 182 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer)) +

Gimbal_Rammer (Thumb, 184 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer))

[Stack]

  • Max Depth = 64
  • Call Chain = Gimbal_Rammer ⇒ M3508_CANSetHIDCurrent ⇒ CAN_TransmitStatus
-
[Calls]
  • >>   Delay_ms +
    [Calls]
    • >>   Delay_us
    • >>   PID_PositionCalc
    • >>   M3508_CANSetHIDCurrent
    diff --git a/云台/云台/Objects/Project_Target 1.dep b/云台/云台/Objects/Project_Target 1.dep index d23090b..b016f5e 100644 --- a/云台/云台/Objects/Project_Target 1.dep +++ b/云台/云台/Objects/Project_Target 1.dep @@ -1741,7 +1741,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632) I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632) I (System\MyI2C.h)(0x69B4F633) F (.\System\MyI2C.h)(0x69B4F633)() -F (.\System\CAN.c)(0x69C52105)(--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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\can.o --omf_browse .\objects\can.crf --depend .\objects\can.d) +F (.\System\CAN.c)(0x69C60212)(--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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\can.o --omf_browse .\objects\can.crf --depend .\objects\can.d) I (.\Start\stm32f4xx.h)(0x69B4F633) I (.\Start\core_cm4.h)(0x69B4F633) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632) I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632) I (.\Hardware\Remote.h)(0x69B4F631) I (Function\CToC.h)(0x69B4F631) -I (.\User\Parameter.h)(0x69C5DA88) +I (.\User\Parameter.h)(0x69C72734) I (.\CarBody\RefereeSystem.h)(0x69B4F631) F (.\Function\CToC.h)(0x69B4F631)() F (.\Function\CloseLoopControl.c)(0x69B4F631)(--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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\closeloopcontrol.o --omf_browse .\objects\closeloopcontrol.crf --depend .\objects\closeloopcontrol.d) @@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x69B4F631) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2) F (.\Control\WaveFiltering_Kalman_Filtering.h)(0x69B4F631)() -F (.\CarBody\Gimbal.c)(0x69C5DAB3)(--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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d) +F (.\CarBody\Gimbal.c)(0x69C607BD)(--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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d) I (.\Start\stm32f4xx.h)(0x69B4F633) I (.\Start\core_cm4.h)(0x69B4F633) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F631) I (.\Library\stm32f4xx_dac.h)(0x69B4F632) I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632) I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632) -I (.\User\Parameter.h)(0x69C5DA88) +I (.\User\Parameter.h)(0x69C72734) I (.\Control\PID.h)(0x69B7BCD4) I (.\Hardware\Remote.h)(0x69B4F631) I (.\Function\AttitudeAlgorithms.h)(0x69B4F631) @@ -2671,13 +2671,13 @@ I (.\Function\CToC.h)(0x69B4F631) I (.\Function\IMUTemperatureControl.h)(0x69B4F631) I (.\Function\AttitudeAlgorithms.h)(0x69B4F631) I (.\Function\Warming.h)(0x69B4F631) -I (User\Parameter.h)(0x69C5DA88) +I (User\Parameter.h)(0x69C72734) I (.\CarBody\Gimbal.h)(0x69B4F631) I (.\CarBody\Visual.h)(0x69B4F631) I (.\CarBody\RefereeSystem.h)(0x69B4F631) I (.\CarBody\Keyboard.h)(0x69B4F631) F (.\User\RM_C.h)(0x69B4F633)() -F (.\User\Parameter.h)(0x69C5DA88)() +F (.\User\Parameter.h)(0x69C72734)() F (.\User\stm32f4xx_conf.h)(0x69B4F633)() F (.\User\stm32f4xx_it.c)(0x69B4F633)(--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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d) I (User\stm32f4xx_it.h)(0x69B4F633) diff --git a/云台/云台/Objects/can.crf b/云台/云台/Objects/can.crf index e5ee33691eed2c011ed6825d366b623eea85d13e..aecc006b724bdeef72c290a34a67c07dec45cfca 100644 GIT binary patch delta 49 ycmex#LHg4L=?#zAxF)sCILF2S1Xj&&*xKK)F#<6Y5HkZY3lOtzf5XPs_7DIKg%l6~ delta 49 ycmex#LHg4L=?#zAxLOZQImgBT1iZ~}*xKK)F#<6Y5HkZY3lOtzf5XPs_7DILrG_)!5j+UjzVoWew5* delta 49 ycmbQcL3-{6=?yY$Tpe4dpJQVHg8pVTwsti(Mj&PaVrC#_0bJx2wWFGVP)dl+dl)sO>Tb2-u{lA5r~<9m>Gy!fS47C x*|xu9XYXcF;$b)!W5CkDXxPEj!1(VrJHz=H1J(vcTOjKKm}RqlHV^w9CIG$XCMN&@ delta 109 zcmex9Pv-kPnGLsCxjME^KgY%Z1pSMjurhINhH*Wb-?6v9V`l_nCLm@8Viq7~1!A`C w@7US9S(Mlr&czt8G%(uVW@k7bW5C+LXnUK7;R2Xt*um7m_UTwBh~ImgBT1ecplIonM+8G)Dyh?#+y1&CRJm~Fc$C;MJm0Qy`H Av;Y7A delta 53 zcmex#R_4=LnGM>UTpe4dpJQVH0@-F$&URByMj&PaVrC#_0b*7lX4`Jc$-Y+>0M+FV Av;Y7A diff --git a/云台/云台/Project.uvguix.LSMushui b/云台/云台/Project.uvguix.LSMushui index 1a94519..b877c54 100644 --- a/云台/云台/Project.uvguix.LSMushui +++ b/云台/云台/Project.uvguix.LSMushui @@ -111,7 +111,7 @@ 0 756 - 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000030000000100000047433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C53797374656D5C43414E2E63000000000543414E2E6300000000C5D4F200FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C6D61696E2E6300000000066D61696E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C436172426F64795C47696D62616C2E63000000000847696D62616C2E6300000000F0A0A100FFFFFFFF48433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C4D6F746F725C4D333530382E6300000000074D333530382E6300000000BCA8E100FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C524D5F432E680000000006524D5F432E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000002C01000066000000AB060000F0020000 + 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000020000000100000047433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C53797374656D5C43414E2E63000000000543414E2E6300000000C5D4F200FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C6D61696E2E6300000000066D61696E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C436172426F64795C47696D62616C2E63000000000847696D62616C2E6300000000F0A0A100FFFFFFFF48433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C4D6F746F725C4D333530382E6300000000074D333530382E6300000000BCA8E100FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C524D5F432E680000000006524D5F432E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000002C01000066000000AB060000F0020000 @@ -1822,7 +1822,7 @@ Build 976 - 00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000 + 00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000 583 @@ -1862,19 +1862,19 @@ 0 100 - 3 + 2 .\System\CAN.c - 0 - 1 - 31 + 63 + 214 + 215 1 0 .\User\main.c - 33 + 31 1 20 1 @@ -1883,18 +1883,18 @@ .\User\Parameter.h - 55 - 1 - 14 + 49 + 3 + 13 1 0 .\CarBody\Gimbal.c - 4 - 193 - 210 + 0 + 188 + 223 1 0 diff --git a/云台/云台/System/CAN.c b/云台/云台/System/CAN.c index cf88e7d..614fd04 100644 --- a/云台/云台/System/CAN.c +++ b/云台/云台/System/CAN.c @@ -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_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_CAN1IDList[10][2]={{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_7},{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 @@ -222,8 +222,8 @@ void CAN1_RX0_IRQHandler(void) { RefereeSystem_ShooterOpenCounter=0; RefereeSystem_ShooterOpenFlag=0;//发射机构离开上电期间 - CAN_CAN1DeviceNumber=5;//添加CAN设备 - CAN_DeviceNumber=6; + CAN_CAN1DeviceNumber=6;//添加CAN设备 + CAN_DeviceNumber=8; } } @@ -269,8 +269,8 @@ void CAN2_RX1_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_DeviceNumber=6; + CAN_CAN1DeviceNumber=6;//添加CAN设备 + CAN_DeviceNumber=8; } } diff --git a/云台/云台/User/Parameter.h b/云台/云台/User/Parameter.h index e8cc63d..f5bda4c 100644 --- a/云台/云台/User/Parameter.h +++ b/云台/云台/User/Parameter.h @@ -10,7 +10,7 @@ #define Pitch_GM6020AngleUpperLinit -20.0f//Pitch轴编码器值上限 /*=============================================云台参数=============================================*/ -#define Gimbal_FrictionWheelSpeed -4000//摩擦轮转速 对应大弹丸11.7M/s +#define Gimbal_FrictionWheelSpeed -3000//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 @@ -25,7 +25,7 @@ #define PC_Spin (Remote_RxData.Remote_Mouse_RL)//视角水平移动 #define PC_Pitch (Remote_RxData.Remote_Mouse_DU)//视角垂直移动 -#define PC_Mouse_RLSensitivity 3.0f//鼠标左右灵敏度 +#define PC_Mouse_RLSensitivity 4.0f//鼠标左右灵敏度 #define PC_Mouse_DUSensitivity 8.0f//鼠标上下灵敏度 #define PC_FrictionWheel (Remote_RxData.Remote_KeyPush_Q)//摩擦轮 diff --git a/底盘/底盘/CarBody/Mecanum.c b/底盘/底盘/CarBody/Mecanum.c index 0bfdef8..0d02f8f 100644 --- a/底盘/底盘/CarBody/Mecanum.c +++ b/底盘/底盘/CarBody/Mecanum.c @@ -56,7 +56,7 @@ void Mecanum_Init(void) PID_PositionStructureInit(&Mecanum_TrackPID,Yaw_GM6020PositionValue);//底盘跟随 //Raw Code// - PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,1);//随便写的PID值，勉强可以用 + PID_PositionSetParameter(&Mecanum_TrackPID,0.02,0,5);//随便写的PID值，勉强可以用 //Testing Code// //PID_PositionSetParameter(&Mecanum_TrackPID,0,0,0); diff --git a/底盘/底盘/Objects/Project.axf b/底盘/底盘/Objects/Project.axf index 7f02f65cff1f641b9a647ee75d36fbb764daaa6f..fb9f303625f58f0fa82da4a00ddaa658d3fb369a 100644 GIT binary patch delta 1578 zcmYjSYfM~46y7^?mpvDPMXM=Ft>vM$1Z3~Md-q`j%cC)%AezQ%8-pw_tE2&9t(Zna zQ3J*_G^KS~mskuoMs15!+tJ!bpho*3722{(4Ji-f4}8#~6t!aU+{Xf&OmfehnQy*1 z-*;yFFQ)WeOxd~IelSI{^>rs+SV_Al#kT7!bE7-@)^3Wjt&9$LwyjBQ7P8yUBnFrE zPl(R!nGNLq`)a3bHtEOXleV_Hr2AvD|46TE$&DL6kZ)_rZVM)*k%ED?b4eOKGHH8L zNajMakX28j>RDb;cwM9`qU7dNK>-KBL2-yU>^P$Msi0%)I<~U|@>%VFjtgwZeppRi ziib`84q@Kf0s9G8uRHPts>yCP)&N8N=_yBuiY{4kvhIHzAuh}~4pFLTUOhd=w*Bq! z^Zr|o^@J6~KnyFGb7bk*(?nI+XakJ%{5i)ZO5IAiv4P*FfT8U6ncF|u~C?Zrr|eFga04Hcf` z*@^H36*V^=aOWd1#%mvhQKTcwCjW$oA=_Non~DpmR<4Z!7@(=y>Qr7o{|Rd(Kw*jSq)UYiSr$kwS^Y&#y)*()BGbtR1L zY)K(Rv*!xnQDYCAEP^|Dd?8d(s(NIO*Xk8Tm$%Y_SoMrvsLbcVk77Bi3sFR zo5pFVh1H^_n5G!z@7AG;#1-IySK%9xs@kG+j%|Z$lzJ@Q?2|VlMJaBC7{X>-BAB@k=6o$A=Lox5S79;lg zSuFkFR(Qbp;*RfOT;Qjlg>+QgBkT4H^Y1pmYlLihiIq0NZ8mWZQmM~$REYm}9`;f} zc`pc8dC3p3kCI3O4_t<7!g7YNL9kDISXLO{09DaUOq_4W_LM91E(miz3|&<48H9P( 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z@1(K|ejy2-h*=pq@eWj&eeDL=|1K!<$`M$C=el8A^DaDvoih%6fjLT1z{L} zo`jtoj~~(%dIQNkUmQw`+x(%<>8X!k4dc%F$ZviOm&s6}I;2TNMbW&TWOvd|&Pgzn>*keOxf(OV~~ZqneRn<5>F*9MIk5)oT{V{(jiX(KP_~F={$VOI){I zMBn$&MSu}=Ua;p!I3k$WOi(xkp9m44xu?)Lo*soA99LWh2jldZB%0`L@gyi-xIM|Y zMOI45S6B#yDKCwWRhHdD18^VFb>M7kP zM&#x!^&~w%5!uv3N7LErr-FygS&$7&RnskLxvG-FvSh|GH81OSdf2-x|NmI>?|=0# BA143+ diff --git a/底盘/底盘/Objects/Project.build_log.htm b/底盘/底盘/Objects/Project.build_log.htm index af3b1b7..c24565c 100644 --- a/底盘/底盘/Objects/Project.build_log.htm +++ b/底盘/底盘/Objects/Project.build_log.htm @@ -28,70 +28,70 @@ Project File Date: 03/26/2026 *** 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 system_stm32f4xx.c... compiling stm32f4xx_cec.c... -compiling stm32f4xx_flash_ramfunc.c... -compiling stm32f4xx_dcmi.c... -compiling stm32f4xx_dma2d.c... -compiling stm32f4xx_adc.c... -compiling stm32f4xx_can.c... -compiling stm32f4xx_cryp_des.c... -compiling stm32f4xx_cryp_tdes.c... compiling stm32f4xx_crc.c... -compiling stm32f4xx_dfsdm.c... -compiling stm32f4xx_exti.c... -compiling stm32f4xx_dma.c... -compiling stm32f4xx_dsi.c... -compiling stm32f4xx_fmpi2c.c... -compiling stm32f4xx_gpio.c... -compiling stm32f4xx_dbgmcu.c... -compiling stm32f4xx_dac.c... -compiling stm32f4xx_flash.c... +compiling misc.c... compiling stm32f4xx_cryp.c... +compiling stm32f4xx_cryp_des.c... +compiling stm32f4xx_flash_ramfunc.c... +compiling stm32f4xx_can.c... +compiling stm32f4xx_adc.c... +compiling stm32f4xx_flash.c... compiling stm32f4xx_fsmc.c... +compiling stm32f4xx_dac.c... +compiling stm32f4xx_exti.c... +compiling stm32f4xx_dfsdm.c... +compiling stm32f4xx_fmpi2c.c... +compiling stm32f4xx_cryp_tdes.c... +compiling stm32f4xx_dbgmcu.c... +compiling stm32f4xx_dsi.c... +compiling stm32f4xx_gpio.c... +compiling stm32f4xx_dma2d.c... +compiling stm32f4xx_dcmi.c... +compiling stm32f4xx_dma.c... compiling stm32f4xx_cryp_aes.c... -compiling stm32f4xx_hash_md5.c... compiling stm32f4xx_hash.c... +compiling stm32f4xx_hash_md5.c... compiling stm32f4xx_hash_sha1.c... compiling stm32f4xx_i2c.c... compiling stm32f4xx_iwdg.c... compiling stm32f4xx_lptim.c... -compiling stm32f4xx_pwr.c... compiling stm32f4xx_qspi.c... +compiling stm32f4xx_pwr.c... compiling stm32f4xx_ltdc.c... compiling stm32f4xx_rng.c... -compiling stm32f4xx_rcc.c... compiling stm32f4xx_sai.c... compiling stm32f4xx_spdifrx.c... -compiling stm32f4xx_sdio.c... -compiling stm32f4xx_syscfg.c... compiling TIM.c... -compiling stm32f4xx_wwdg.c... -compiling stm32f4xx_spi.c... -compiling stm32f4xx_rtc.c... +compiling stm32f4xx_syscfg.c... compiling Delay.c... +compiling stm32f4xx_rcc.c... +compiling stm32f4xx_wwdg.c... +compiling stm32f4xx_sdio.c... +compiling stm32f4xx_spi.c... compiling stm32f4xx_usart.c... compiling UART.c... +compiling stm32f4xx_rtc.c... compiling stm32f4xx_tim.c... -compiling Buzzer.c... -compiling LED.c... compiling CAN.c... -compiling Remote.c... +compiling LED.c... +compiling Buzzer.c... compiling GM6020.c... compiling M3508.c... +compiling Remote.c... compiling LinkCheck.c... compiling Warming.c... compiling CToC.c... compiling CloseLoopControl.c... compiling PID.c... compiling RefereeSystem.c... -compiling RefereeSystem_CRCTable.c... compiling Mecanum.c... -compiling Ultra_CAP.c... +compiling RefereeSystem_CRCTable.c... compiling UI.c... -compiling stm32f4xx_it.c... compiling UI_Base.c... +compiling Ultra_CAP.c... +compiling stm32f4xx_it.c... compiling main.c... compiling UI_Library.c... linking... diff --git a/底盘/底盘/Objects/Project.htm b/底盘/底盘/Objects/Project.htm index 2ac68aa..e67cf48 100644 --- a/底盘/底盘/Objects/Project.htm +++ b/底盘/底盘/Objects/Project.htm @@ -3,7 +3,7 @@ Static Call Graph - [.\Objects\Project.axf]

    Static Call Graph for image .\Objects\Project.axf

    -

    #<CALLGRAPH># ARM Linker, 5060960: Last Updated: Fri Mar 27 09:19:29 2026 +

    #<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sat Mar 28 08:58:46 2026

    Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)

    Call chain for Maximum Stack Depth:

    diff --git a/底盘/底盘/Objects/Project_Target 1.dep b/底盘/底盘/Objects/Project_Target 1.dep index cca49db..f63388f 100644 --- a/底盘/底盘/Objects/Project_Target 1.dep +++ b/底盘/底盘/Objects/Project_Target 1.dep @@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634) I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634) I (Control\PID.h)(0x69B4F634) F (.\Control\PID.h)(0x69B4F634)() -F (.\CarBody\Mecanum.c)(0x69C5DB1B)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d) +F (.\CarBody\Mecanum.c)(0x69C5E285)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d) I (.\Start\stm32f4xx.h)(0x69B4F635) I (.\Start\core_cm4.h)(0x69B4F635) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x69B4F634) I (.\Motor\GM6020.h)(0x69B4F634) I (.\Hardware\Remote.h)(0x69B4F634) I (.\Control\PID.h)(0x69B4F634) -I (.\User\Parameter.h)(0x69C5DA94) +I (.\User\Parameter.h)(0x69C727C0) I (CarBody\RefereeSystem.h)(0x69B4F633) I (CarBody\Ultra_CAP.h)(0x69B4F633) I (CarBody\Mecanum.h)(0x69B4F633) @@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x69B4F634) I (.\Function\CloseLoopControl.h)(0x69B4F634) I (.\Function\CToC.h)(0x69B4F634) I (.\Function\Warming.h)(0x69B4F634) -I (User\Parameter.h)(0x69C5DA94) +I (User\Parameter.h)(0x69C727C0) I (.\CarBody\Mecanum.h)(0x69B4F633) I (.\CarBody\RefereeSystem.h)(0x69B4F633) I (.\CarBody\RefereeSystem_CRCTable.h)(0x69B4F633) I (.\CarBody\Ultra_CAP.h)(0x69B4F633) I (.\CarBody\UI.h)(0x69B4F633) F (.\User\RM_C.h)(0x69B4F635)() -F (.\User\Parameter.h)(0x69C5DA94)() +F (.\User\Parameter.h)(0x69C727C0)() F (.\User\stm32f4xx_conf.h)(0x69B4F635)() F (.\User\stm32f4xx_it.c)(0x69B4F635)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -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 -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d) I (User\stm32f4xx_it.h)(0x69B4F635) diff --git a/底盘/底盘/Objects/main.crf b/底盘/底盘/Objects/main.crf index 2776a1b4b13a11a03b595cfbfb27a1ad391dae16..c1fc3cf252f80359fa9e1f75b4bbdcd1cf95a701 100644 GIT binary patch delta 53 zcmdlrOJ>(BnGH%DTnEn2ImgBT1jm|nINEhM7=f4xh?#+y1&CRJm~Fcb2Rk1t0LKaq Ay#N3J delta 53 zcmdlrOJ>(BnGH%DTvN7AKgY%Z1cJ>v9PK(Bj6lo;#LPg<0>rF9%(h*JgPo5R0HTWw Ay#N3J diff --git a/底盘/底盘/Objects/mecanum.crf b/底盘/底盘/Objects/mecanum.crf index 4ce85ea4a91039479e578891af805aa9add9be02..572cabb016576b0061051c9fb7cc45373dedba20 100644 GIT binary patch delta 68 zcmcb*Q|9VUnGKuRxDK43bB>Jx2rMS=VQb=QJvtr2ebwy2-tNK92*gZ4%nZaVK+Fon LY}-B9*?UC+RF4%H delta 68 zcmcb*Q|9VUnGKuRxTb8KevXX+2%0DFVQb==y$#BJ-0Z>L?!nFo#7scU48$xz%nHP8 K+dbIXdqn|KUKJPs diff --git a/底盘/底盘/Project.uvguix.LSMushui b/底盘/底盘/Project.uvguix.LSMushui index 03172e7..85b8028 100644 --- a/底盘/底盘/Project.uvguix.LSMushui +++ b/底盘/底盘/Project.uvguix.LSMushui @@ -93,8 +93,8 @@ 2 3 - -32000 - -32000 + -1 + -1 -1 @@ -111,7 +111,7 @@ 0 1005 - 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 + 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 @@ -1822,7 +1822,7 @@ Build 976 - 00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000 + 00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000 583 @@ -1862,12 +1862,12 @@ 0 100 - 0 + 2 .\CarBody\Mecanum.c - 2 + 3 49 - 59 + 72 1 0 @@ -1883,7 +1883,7 @@ .\User\Parameter.h - 59 + 48 1 5 1 @@ -1901,7 +1901,7 @@ .\User\main.c - 23 + 22 1 14 1 diff --git a/底盘/底盘/User/Parameter.h b/底盘/底盘/User/Parameter.h index cde7ba6..94e2eb7 100644 --- a/底盘/底盘/User/Parameter.h +++ b/底盘/底盘/User/Parameter.h @@ -2,7 +2,7 @@ #define __PARAMETER_H /*=============================================结构参数=============================================*/ -#define Yaw_GM6020PositionValue 5733//Yaw轴回正时编码器值 +#define Yaw_GM6020PositionValue 1637//Yaw轴回正时编码器值 /*=============================================麦轮参数=============================================*/ #define Mecanum_WheelRadius 7.0f//麦轮半径(单位cm) @@ -11,7 +11,7 @@ #define Mecanum_ry 18.75f//底盘中心到轮子中心的距离的y轴分量(单位cm) #define Mecanum_LeverSpeedMapRate (1.2f/660.0f)//拨杆速度映射比例 -#define Mecanum_GyroScopeAngularVelocity 7.0f//小陀螺角速度 +#define Mecanum_GyroScopeAngularVelocity 8.0f//小陀螺角速度 #define Mecanum_NormalSpeedRate 1.2f//底盘正常速度和超功率速度的比值 #endif