电流环控制，并实现简单的补偿控制，还差参数具体化。

云台/modules/control/shoot.c

@@ -1,10 +1,10 @@
 /* =============================================================================
- * shoot.c - 发射机构:摩擦轮 2xM3508(0x200 CAN1 槽1/2)+ 拨弹 M2006
+ * shoot.c - 发射机构:摩擦轮 2xM3508(0x200 CAN1 槽1/2)+ 拨弹 M2006(0x200 CAN2 槽1)
  * 逻辑(与 legacy 一致):
  *   摩擦轮开关受发射机构上电状态门控(可由 DEBUG_SHOOT_WITHOUT_REFEREE 绕过),
  *   开启时联动激光(PC8=TIM3_CH3 PWM,占空比 0/满 对应关/开)
  *   拨弹仅在摩擦轮开启后允许;fire=GIMBAL_RAMMER_SPEED(-5400),eject 反向
- * 拨弹电流经 shoot_share_rammer_current() 交给云台共帧发送(0x1FF CAN1)
+ *   拨弹电流经 shoot_send_cmd() 经 CAN2 0x200 帧直接发送(ID 1)
  * ========================================================================== */
 #include "shoot.h"
 #include "gimbal.h"
@@ -43,7 +43,7 @@ void shoot_init(void)
     PID_PositionStructureInit(&rammer_pid, GIMBAL_RAMMER_SPEED);
     PID_PositionSetParameter(&rammer_pid, GIMBAL_RAMMER_KP, GIMBAL_RAMMER_KI, GIMBAL_RAMMER_KD);
     PID_PositionSetEkRange(&rammer_pid, -20, 20);
-    PID_PositionSetOUTRange(&rammer_pid, -30000, 30000);
+    PID_PositionSetOUTRange(&rammer_pid, -10000, 10000);
 
     laser_init();
 }
@@ -67,7 +67,7 @@ void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t sho
         shoot_friction_flag = 0;
     }
 
-    /* 拨弹:仅在摩擦轮开启时允许 */
+    /* 拨弹:仅在摩擦轮开启后允许 */
     if (shoot_friction_flag)
     {
         if (fire)
@@ -83,19 +83,20 @@ void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t sho
     PID_PositionCalc(&friction_l_pid, motor_friction_l.fdb.rotor_speed);
     PID_PositionCalc(&friction_r_pid, motor_friction_r.fdb.rotor_speed);
     PID_PositionCalc(&rammer_pid, motor_rammer.fdb.rotor_speed);
-
-    /* 拨弹电流交给云台控制帧统一发送(0x1FF CAN1 共帧) */
-    shoot_share_rammer_current((int16_t)rammer_pid.OUT);
 }
 
 void shoot_send_cmd(void)
 {
+    /* 摩擦轮 2×M3508:CAN1 0x200 槽1/2 */
     dji_motor_send_current_low(&hcan1, (int16_t)friction_l_pid.OUT, (int16_t)friction_r_pid.OUT, 0, 0);
+    /* 拨弹盘 M2006(ID 1):CAN2 0x200 槽1 */
+    dji_motor_send_current_low(&hcan2, (int16_t)rammer_pid.OUT, 0, 0, 0);
 }
 
 void shoot_output_zero(void)
 {
     dji_motor_send_current_low(&hcan1, 0, 0, 0, 0);
+    dji_motor_send_current_low(&hcan2, 0, 0, 0, 0);
     LASER_OFF();
     shoot_friction_flag = 0;
 }