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RMUL 2026最终上场版本

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This commit is contained in:
Qi Bin
2026-04-09 17:01:36 +08:00
parent 84a9bccc9c
commit ea96fd8335
21 changed files with 126 additions and 126 deletions
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2
底盘/底盘/CarBody/Mecanum.c
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@@ -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);

BIN
底盘/底盘/Objects/Project.axf
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Binary file not shown.

62
底盘/底盘/Objects/Project.build_log.htm
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@@ -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...

2
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: Fri Mar 27 09:19:29 2026
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 28 08:58:46 2026
<BR><P>
<H3>Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>

8
底盘/底盘/Objects/Project_Target 1.dep
View File

@@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
@@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x69B4F634)
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-o .\objects\m3508.o --omf_browse .\objects\m3508.crf --depend .\objects\m3508.d)
I (.\Start\stm32f4xx.h)(0x69B4F635)
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)
I (.\Start\core_cmInstr.h)(0x69B4F635)
@@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)

BIN
底盘/底盘/Objects/main.crf
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Binary file not shown.

BIN
底盘/底盘/Objects/mecanum.crf
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Binary file not shown.

18
底盘/底盘/Project.uvguix.LSMushui
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@@ -93,8 +93,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
<xPos>-32000</xPos>
<yPos>-32000</yPos>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -111,7 +111,7 @@
<RegID>0</RegID>
<MDITabState>
<Len>1005</Len>
<Data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ata>
<Data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ata>
</MDITabState>
</MDIClientArea>
<ViewEx>
@@ -1822,7 +1822,7 @@
<Name>Build</Name>
<Buttons>
<Len>976</Len>
<Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
<Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
</Buttons>
<OriginalItems>
<Len>583</Len>
@@ -1862,12 +1862,12 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
<ActiveTab>0</ActiveTab>
<ActiveTab>2</ActiveTab>
<Doc>
<Name>.\CarBody\Mecanum.c</Name>
<ColumnNumber>2</ColumnNumber>
<ColumnNumber>3</ColumnNumber>
<TopLine>49</TopLine>
<CurrentLine>59</CurrentLine>
<CurrentLine>72</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -1883,7 +1883,7 @@
</Doc>
<Doc>
<Name>.\User\Parameter.h</Name>
<ColumnNumber>59</ColumnNumber>
<ColumnNumber>48</ColumnNumber>
<TopLine>1</TopLine>
<CurrentLine>5</CurrentLine>
<Folding>1</Folding>
@@ -1901,7 +1901,7 @@
</Doc>
<Doc>
<Name>.\User\main.c</Name>
<ColumnNumber>23</ColumnNumber>
<ColumnNumber>22</ColumnNumber>
<TopLine>1</TopLine>
<CurrentLine>14</CurrentLine>
<Folding>1</Folding>

4
底盘/底盘/User/Parameter.h
View File

@@ -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