From 67eea77789a8a495e7011a5786ed10f1f377b7fb Mon Sep 17 00:00:00 2001 From: lyf <169361657@qq.com> Date: Sat, 10 Oct 2026 21:17:58 +0800 Subject: [PATCH] =?UTF-8?q?yaw=E6=AD=A3=E6=96=B9=E5=90=91=E4=BF=AE?= =?UTF-8?q?=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 云台/Application/robot_param.h | 4 ++-- 底盘/Application/robot_param.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/云台/Application/robot_param.h b/云台/Application/robot_param.h index 00c7ba2..b33c980 100644 --- a/云台/Application/robot_param.h +++ b/云台/Application/robot_param.h @@ -12,7 +12,7 @@ #define PITCH_GM6020_POSITION_LOWER_LIMIT 3990 // Pitch 轴编码器值下限(云台抬起方向) #define PITCH_GM6020_POSITION_UPPER_LIMIT 2220 // Pitch 轴编码器值上限(云台压低方向) #define PITCH_GM6020_ENCODER_ZERO 3245 // Pitch 轴编码器零位 -#define YAW_GM6020_ENCODER_ZERO 4440 // Yaw 轴编码器零位(机械正前方,0~8191) +#define YAW_GM6020_ENCODER_ZERO 6804 // Yaw 轴编码器零位(机械正前方,0~8191) #define CHASSIS_SPIN_FEEDFORWARD_K 0.008f // 小陀螺解算时延前馈补偿系数(s) #define GIMBAL_FRICTION_WHEEL_SPEED 5500.0f // 摩擦轮转速(RPM) @@ -130,7 +130,7 @@ /* 1=把 CAN 掉线警告音替换成循环播放的旋律《你》(RM动画片尾曲),报警时播放; * 旋律音符表见 modules/dev/buzzer.c 的 buzzer_melody[] */ -#define DEBUG_BUZZER_MELODY 1 +#define DEBUG_BUZZER_MELODY 0 #define BUZZER_MELODY_SPEED_DIV 1 // 旋律降速分频(默认1:每步100ms精准匹配原版带吐音断音节拍) /* ============================ 掉线检测 ============================ */ diff --git a/底盘/Application/robot_param.h b/底盘/Application/robot_param.h index 0db35a7..4e76675 100644 --- a/底盘/Application/robot_param.h +++ b/底盘/Application/robot_param.h @@ -12,7 +12,7 @@ #define PITCH_GM6020_POSITION_LOWER_LIMIT 3990 // Pitch 轴编码器值下限(云台抬起方向) #define PITCH_GM6020_POSITION_UPPER_LIMIT 2220 // Pitch 轴编码器值上限(云台压低方向) #define PITCH_GM6020_ENCODER_ZERO 3245 // Pitch 轴编码器零位 -#define YAW_GM6020_ENCODER_ZERO 4440 // Yaw 轴编码器零位(机械正前方,0~8191) +#define YAW_GM6020_ENCODER_ZERO 6804 // Yaw 轴编码器零位(机械正前方,0~8191) #define CHASSIS_SPIN_FEEDFORWARD_K 0.0725f // 小陀螺解算时延前馈补偿系数(s) #define GIMBAL_FRICTION_WHEEL_SPEED 5500.0f // 摩擦轮转速(RPM) @@ -131,7 +131,7 @@ /* 1=调试模式:把 CAN 掉线警告音替换成循环播放的旋律(台架调试时避免连续滴滴声 * 干扰)。红灯常亮与其它灯语完全不变,仍能看出是哪台设备掉线;比赛请改 0。 * 旋律音符表见 modules/BUZZER/buzzer.c 的 buzzer_melody[] */ -#define DEBUG_BUZZER_MELODY 1 +#define DEBUG_BUZZER_MELODY 0 #define BUZZER_MELODY_SPEED_DIV 1 // 旋律降速分频(默认1:每步100ms精准匹配原版带吐音断音节拍) // 旋律降速分频(默认2:放慢一倍匹配原曲抒情节拍;设为3/4可进一步放慢) /* ============================ 掉线检测 ============================ */