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fix bug

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This commit is contained in:
xinyang
2019-08-07 05:18:25 +08:00
parent c8b13159a2
commit 4fc5c55f84
2 changed files with 13 additions and 6 deletions
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16
energy/src/energy/send/send.cpp
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@@ -32,11 +32,11 @@ void Energy::sendEnergy() {
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
if(mcu_data.mark == 1){
if (mcu_data.mark == 1) {
yaw_rotation = TRY_BIG_YAW_AIM_KP * yaw_rotation + TRY_BIG_YAW_AIM_KI * sum_yaw +
TRY_BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
TRY_BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = TRY_BIG_PITCH_AIM_KP * pitch_rotation + TRY_BIG_PITCH_AIM_KI * sum_pitch +
TRY_BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
TRY_BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
} else {
yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw +
BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
@@ -67,8 +67,14 @@ void Energy::sendEnergy() {
} else if (is_small) {
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
if (mcu_data.mark == 1) {
yaw_rotation = TRY_SMALL_YAW_AIM_KP * yaw_rotation + TRY_SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation =
TRY_SMALL_PITCH_AIM_KP * pitch_rotation + TRY_SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
} else {
yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
}
if (ROBOT_ID == 7) {
MINMAX(yaw_rotation, -6, 6);
MINMAX(pitch_rotation, -6, 6);