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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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14
云台/云台/CarBody/Gimbal.c
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@@ -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_DegRoll<Pitch_GM6020AngleLowerLinit)
else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1020) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
Gimbal_PitchAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;
if((Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1 ) || (Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1) )//自瞄,补偿角度
@@ -186,14 +186,14 @@ void Gimbal_YawControl(void)
{
if(Remote_StartFlag==2)
Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw;//遥控器刚建立连接时,复位Yaw轴角度
if((Remote_RxData.Remote_L_RL>1050 && 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);
}

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云台/云台/Objects/Project.axf
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82
云台/云台/Objects/Project.build_log.htm
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@@ -28,54 +28,56 @@ Project File Date: 03/24/2026
*** 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 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
<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>

8
云台/云台/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 09:17:46 2026
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 28 08:56:26 2026
<BR><P>
<H3>Maximum Stack Usage = 280 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@@ -1066,7 +1066,6 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IST8310_Init
<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Init
<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_s
<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Rammer
</UL>
<P><STRONG><a name="[da]"></a>Delay_s</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, delay.o(i.Delay_s))
@@ -1079,6 +1078,7 @@ Global Symbols
<P><STRONG><a name="[d9]"></a>Delay_us</STRONG> (Thumb, 74 bytes, Stack size 0 bytes, delay.o(i.Delay_us))
<BR><BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_ms
<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Rammer
<LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>
@@ -1259,10 +1259,10 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_MoveControl
</UL>
<P><STRONG><a name="[ee]"></a>Gimbal_Rammer</STRONG> (Thumb, 182 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer))
<P><STRONG><a name="[ee]"></a>Gimbal_Rammer</STRONG> (Thumb, 184 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_Rammer))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = Gimbal_Rammer &rArr; M3508_CANSetHIDCurrent &rArr; CAN_TransmitStatus
</UL>
<BR>[Calls]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_ms
<BR>[Calls]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay_us
<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_PositionCalc
<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;M3508_CANSetHIDCurrent
</UL>

12
云台/云台/Objects/Project_Target 1.dep
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@@ -1741,7 +1741,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F633)
I (.\Start\core_cmFunc.h)(0x69B4F633)
I (.\Start\core_cmSimd.h)(0x69B4F633)
I (.\Start\core_cmSimd.h)(0x69B4F633)
I (.\Start\system_stm32f4xx.h)(0x69B4F633)
I (.\User\stm32f4xx_conf.h)(0x69B4F633)
I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
@@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F632)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F632)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F632)
@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x69B4F631)
I (.\User\stm32f4xx_conf.h)(0x69B4F633)
I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
@@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F631)
-o .\objects\m2006.o --omf_browse .\objects\m2006.crf --depend .\objects\m2006.d)
I (.\Start\stm32f4xx.h)(0x69B4F633)
I (.\Start\core_cm4.h)(0x69B4F633)
I (.\Start\core_cm4.h)(0x69B4F633)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F633)
I (.\Start\core_cmFunc.h)(0x69B4F633)
@@ -2671,13 +2671,13 @@ I (.\Function\CToC.h)(0x69B4F631)
I (.\User\stm32f4xx_conf.h)(0x69B4F633)
I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F632)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F632)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F632)

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云台/云台/Objects/can.crf
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云台/云台/Objects/ctoc.crf
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BIN
云台/云台/Objects/gimbal.crf
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云台/云台/Objects/main.crf
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26
云台/云台/Project.uvguix.LSMushui
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@@ -111,7 +111,7 @@
<RegID>0</RegID>
<MDITabState>
<Len>756</Len>
<Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000030000000100000047433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C53797374656D5C43414E2E63000000000543414E2E6300000000C5D4F200FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C6D61696E2E6300000000066D61696E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C436172426F64795C47696D62616C2E63000000000847696D62616C2E6300000000F0A0A100FFFFFFFF48433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C4D6F746F725C4D333530382E6300000000074D333530382E6300000000BCA8E100FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C524D5F432E680000000006524D5F432E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000002C01000066000000AB060000F0020000</Data>
<Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000020000000100000047433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C53797374656D5C43414E2E63000000000543414E2E6300000000C5D4F200FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C6D61696E2E6300000000066D61696E2E6300000000FFDC7800FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C506172616D657465722E68000000000B506172616D657465722E6800000000BECEA100FFFFFFFF4B433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C436172426F64795C47696D62616C2E63000000000847696D62616C2E6300000000F0A0A100FFFFFFFF48433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C4D6F746F725C4D333530382E6300000000074D333530382E6300000000BCA8E100FFFFFFFF46433A5C55736572735C4C534D75736875695C4465736B746F705C524D5C4865726F2D432D426F6172642D4C65676163795CD4C6CCA85CD4C6CCA85C557365725C524D5F432E680000000006524D5F432E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000002C01000066000000AB060000F0020000</Data>
</MDITabState>
</MDIClientArea>
<ViewEx>
@@ -1822,7 +1822,7 @@
<Name>Build</Name>
<Buttons>
<Len>976</Len>
<Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
<Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
</Buttons>
<OriginalItems>
<Len>583</Len>
@@ -1862,19 +1862,19 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
<ActiveTab>3</ActiveTab>
<ActiveTab>2</ActiveTab>
<Doc>
<Name>.\System\CAN.c</Name>
<ColumnNumber>0</ColumnNumber>
<TopLine>1</TopLine>
<CurrentLine>31</CurrentLine>
<ColumnNumber>63</ColumnNumber>
<TopLine>214</TopLine>
<CurrentLine>215</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>.\User\main.c</Name>
<ColumnNumber>33</ColumnNumber>
<ColumnNumber>31</ColumnNumber>
<TopLine>1</TopLine>
<CurrentLine>20</CurrentLine>
<Folding>1</Folding>
@@ -1883,18 +1883,18 @@
</Doc>
<Doc>
<Name>.\User\Parameter.h</Name>
<ColumnNumber>55</ColumnNumber>
<TopLine>1</TopLine>
<CurrentLine>14</CurrentLine>
<ColumnNumber>49</ColumnNumber>
<TopLine>3</TopLine>
<CurrentLine>13</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>.\CarBody\Gimbal.c</Name>
<ColumnNumber>4</ColumnNumber>
<TopLine>193</TopLine>
<CurrentLine>210</CurrentLine>
<ColumnNumber>0</ColumnNumber>
<TopLine>188</TopLine>
<CurrentLine>223</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>

10
云台/云台/System/CAN.c
View File

@@ -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;
}
}

4
云台/云台/User/Parameter.h
View File

@@ -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

2
底盘/底盘/CarBody/Mecanum.c
View File

@@ -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
View File

Binary file not shown.

62
底盘/底盘/Objects/Project.build_log.htm
View File

@@ -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
View File

@@ -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
View File

Binary file not shown.

BIN
底盘/底盘/Objects/mecanum.crf
View File

Binary file not shown.

18
底盘/底盘/Project.uvguix.LSMushui
View File

@@ -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>
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</MDITabState>
</MDIClientArea>
<ViewEx>
@@ -1822,7 +1822,7 @@
<Name>Build</Name>
<Buttons>
<Len>976</Len>
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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